Page 1 Preface Fundamental safety instructions System description SIMOCRANE Overview of the software SC integrated STS, GSU Communication interface to SIMATIC S7 Configuration Operating Instructions Sway Control function description TLS control function description SIMOCRANE CeCOMM commissioning and diagnostic program Commissioning AddOn Software Alarm, error, and system messages Parameters...
Page 2 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 are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.
Page 3: Preface
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 ●...
Page 4 The latest information about SINAMICS products, product support, and FAQs can be found on the Internet here (http://support.automation.siemens.com/WW/view/en/13305690/130000). Copyright information “MATLAB 1984 - 2013 The MathWorks, Inc.” ® © Siemens confirmed that it has a valid license agreement with Mathworks. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 5: Table Of Contents
Table of contents Preface .................................3 Fundamental safety instructions.........................13 General safety instructions related to the hardware...............13 General safety instructions related to software ..............14 Warranty and liability for application projects.................14 Industrial security ........................15 Additional specific "security measures"..................16 System description .............................17 Introduction ..........................17 System overview ........................17 2.2.1 System requirements and design...................17...
Page 6 Table of contents 3.3.1.8 DCC_SCCOMMON........................54 3.3.1.9 DCC_SCDIAG........................57 3.3.2 AddOn FB library........................58 3.3.2.1 FB_CommonPLCToAddOn....................58 3.3.2.2 FB_CommonAddOnToPLC....................60 3.3.2.3 FB_HoistPLCToAddOn ......................61 3.3.2.4 FB_HoistAddOnToPLC ......................62 3.3.2.5 FB_TrolleyPLCToAddOn......................63 3.3.2.6 FB_TrolleyAddOnToPLC......................65 3.3.2.7 FB_IntpoPLCToAddOn ......................66 3.3.2.8 FB_IntpoAddOnToPLC ......................67 3.3.2.9 FB_TLSPLCToAddOn......................68 3.3.2.10 FB_TLSAddOnToPLC......................69 3.3.2.11 FB_TargetsPLCToAddOn ......................70 3.3.2.12 FB_TargetsAddOnToPLC ......................71 3.3.2.13 FB_ObstaclePLCToAddOn ....................73 3.3.2.14...
Page 7 Table of contents 5.5.2 General information......................120 5.5.3 Defining the telegram ......................121 Copying the address list.......................121 Copying the AddOn FB library .....................123 Copying MCC source files....................126 Inserting DCC blocks ......................127 5.10 Establishing the connection between Basic Technology and AddOn ........131 5.11 Connection between skew damping technology object and DCC block TLS2.....132 5.12 Execution system .........................134...
Page 8 Table of contents Drive activation and brake control..................163 Controlled stop ........................164 Terminating a travel operation .....................164 Acceleration and deceleration behavior ................165 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...
Page 9 Table of contents 6.18 Approaching the waiting position ..................218 6.19 Starting SAM mode after a manual hoist operation .............218 6.20 Slack rope ..........................219 6.21 Override ..........................219 6.22 Influencing the lowering point in SAM travel from WS to LS..........221 6.23 Hoist takeover ........................221 6.24 Minimum hoisting height ......................224 6.25...
Page 10 Table of contents 8.5.1 Sway Control monitors ......................275 8.5.2 TLS monitors........................277 8.5.3 Editing AddOn parameters....................283 8.5.3.1 Overview ..........................283 8.5.3.2 Call and navigation in the parameter menus................284 8.5.3.3 Activating a parameter set ....................284 8.5.3.4 Editing a parameter set ......................285 8.5.3.5 Changing a parameter ......................285 8.5.3.6 Copying a parameter set......................286 8.5.3.7...
Page 11 Table of contents 9.4.2.7 Defining the activation velocity and ON delay..............340 9.4.2.8 Setting the time constants for trolley (P153) and hoist (P154)..........340 9.4.3 Commissioning positioning mode (POS) ................342 9.4.3.1 Selecting external and internal targets.................342 9.4.3.2 Changing the coordinate system..................343 9.4.3.3 Position controller setting .....................345 9.4.3.4 Other settings........................346...
Page 12 Table of contents 10.5.3.4 Error in the limit or prelimit switch area ................379 10.5.3.5 Error in semi-automatic mode ....................380 10.5.3.6 Other errors 1........................384 10.5.3.7 Other errors 2........................385 10.5.3.8 SIMOCRANE CeCOMM diagnostic program...............387 10.5.3.9 Troubleshooting/FAQs ......................387 10.5.4 Error list TLS ........................387 Parameters ...............................393 11.1 Overview of the parameter list .....................393...
Page 13: Fundamental Safety Instructions
Fundamental safety instructions General safety instructions related to the hardware The Sway Control technology package is used in areas where electrical systems are being operated. This area may contain high voltages, moving machine parts, hydraulic and pneumatic systems. Consequently, follow the following general safety instructions. WARNING Electric shock and danger to life due to other energy sources Touching live components can result in death or severe injury.
Page 14: General Safety Instructions Related To Software
Fundamental safety instructions 1.3 Warranty and liability for application projects WARNING Electric shock due to equipment damage Improper handling may cause damage to equipment. For damaged devices, hazardous voltages can be present at the enclosure or at exposed components; if touched, this can result in death or severe injury.
Page 15: Industrial Security
Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are 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.
Page 16: Additional Specific "Security Measures
The customer is responsible for preventing unauthorized access to its plants, systems, machines and networks, see also safety instruction Industrial security (Page 15). In order to protect plants, systems, machines and networks against cyber attack, Siemens Industrial Security functions can be incorporated into a customized industrial security concept.
Page 17: System Description
This reduces the crane driver's workload and increases productivity. The sector solution SIMOCRANE Basic Technology has been available in the Siemens Cranes business area since the middle of 2007. The platform is based on a SIMATIC S7 - SIMOTION - SINAMICS hardware configuration and covers the motion control of all the main drives of a crane.
Page 18: Applications
System description 2.2 System overview The following diagram shows an example of communication paths between the individual components. Figure 2-1 Communication paths between the components The AddOn contains a DCC library and an FB library. The functions for sway control, TLS control and CeCOMM are stored in the DCC library with the associated blocks.
Page 19: Sts Container Cranes With Camera Measuring System
System description 2.2 System overview 2.2.2.2 STS container cranes with camera measuring system When the camera measuring system is used, sway motion or rotation of the spreader caused by external factors (e.g. wind or diagonal pull) can also be detected. This measuring system uses optical non-contact measurement to determine the distance between camera and reflector, pendulum deflection and rotation of the spreader.
Page 20: Overview Of Operating Modes, Functions And Required Licenses
System description 2.2 System overview Laser measuring system STS cranes can be equipped with a laser measuring system for measuring the container stack. You will find detailed information in Chapter Using a bay scanner (Page 204). Alternatively, a complete ship profile measured by a 2D/3D laser system can be transferred from the higher-level control system to the sway control system for both STS and GSU applications.
Page 21 System description 2.2 System overview Operating mode Functions Sway neutralization drive position ● Specification of the internally calculated drive position as a target position (SND) ● Sway-controlled travel of the trolley ● Not for the hoist and not when GSU is selected ●...
Page 22: Product Structure
System description 2.3 Scope of supply Table 2-4 Overview of operating modes and required licenses Operating modes and functions Basic License Advanced License Manual mode (MAN) ✓ ✓ Manual mode (MAN) - soft approach ✓ Positioning (POS) ✓ ✓ Sway neutralization load position (SNL) ✓...
Page 23 System description 2.3 Scope of supply The DVD contains: 1. Readme file (German and English) 2. Readme_OSS (German and English) 3. Application Documentation English Software Application project for STS Application project for GSU 4. Product Documentation German English Software CeCOMM Setup file for installation of the SIMOCRANE Ce‐...
Page 24 System description 2.3 Scope of supply SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 25: Overview Of The Software
Overview of the software Application projects Two application projects are included in the scope of delivery: ● SwayControl_SimoD_STS_PN ● SwayControl_SimoD_GSU_PN As indicated by the project names, one application project is for STS cranes and the other is for GSU cranes. Both application projects contain a SIMATIC part and a SCOUT part.
Page 26 Overview of the software 3.1 Application projects ● FB_HoistPLCToAddOn ● FB_HoistAddOnToPLC ● FB_TrolleyPLCToAddOn ● FB_TrolleyAddOnToPLC ● FB_IntpoPLCToAddOn ● FB_IntpoAddOnToPLC ● FB_ObstaclePLCToAddOn ● FB_ObstacleAddOnToPLC ● FB_AddDataPLCToAddOn ● FB_AddDataAddOnToPLC DCC blocks ● DCC_SCCOMMON ● DCC_SCHOIST ● DCC_SCTROLLEY ● DCC_INTPO ● DCC_SCOBSTACLES ● DCC_SCDIAG Inclusion of the blocks in execution levels The blocks are calculated in the following execution groups: ●...
Page 27: Scout Project Sts
Overview of the software 3.1 Application projects 3.1.2 SCOUT project STS The "SwayControl_SimoD_STS_PN.xml" project is required for the following applications: STS container cranes with camera measuring system: ● With or without TLS system ● With or without laser measuring system The project contains the following blocks.
Page 28: Addon Software Structure
Overview of the software 3.2 AddOn software structure ● DCC_SCDIAG ● DCC_SCTLS2 ● DCC_SCTARGETS ● DCC_SCCAMERA Inclusion of the blocks in execution levels The blocks are calculated in the following execution groups: ● The DCC blocks in "SwayControl" operate in the sampling time of the SIMOTION interpolator cycle (T2).
Page 29 Overview of the software 3.2 AddOn software structure Function Brief description TLS control (STS only) The DCC_SCTLS2 block can be used to control the hydraulic cylinders of the TLS system. This makes it possible to approach the trim, list and skew positions of a spreader. Skew damping functionality is integrated in the skew control.
Page 30: Structure Of The Function Module
Overview of the software 3.2 AddOn software structure 3.2.2 Structure of the function module The structure of the function modules comprises an MCC source file and an MCC chart. In cyclical operation, the receive blocks are processed first, followed by the send blocks. A separate MCC source file with an MCC chart is stored for the optional camera measuring system.
Page 31 Overview of the software 3.2 AddOn software structure Figure 3-2 "AddOn" MCC source file; "AddOnMCC" MCC chart Processing in the "CameraMCC" MCC chart The following figure shows the contents 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.
Page 32 Overview of the software 3.2 AddOn software structure Figure 3-3 "CameraMCC" MCC chart Processing in the "Cam_MV440_MCC" MCC chart The following figure shows the contents of the "Cam_MV440_MCC" MCC chart. The subprogram call is contained in this. If PROFINET is selected, the subprogram call is processed, i.e.
Page 33: Global Variables - Connection Between The Components
Overview of the software 3.2 AddOn software structure 3.2.3 Global variables - connection between the components 3.2.3.1 Overview The function blocks are connected to the S7 using global variables in the I/O area. The connection of the function blocks to the DCC blocks and from SIMOCRANE Basic Technology to the DCC blocks is made using global and unit-global variables.
Page 34 Overview of the software 3.2 AddOn software structure 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.
Page 35: Naming Scheme For The Unit-Global Variables
Overview of the software 3.2 AddOn software structure 3.2.3.2 Naming scheme for the unit-global variables The global variables serve as connection elements between the components and have the following structure: Section Description Example ① Specification of the DCC library block Trolley, Hoist, Common, TLS, Targets, Ob‐...
Page 36: Addon Technology - Technology Objects
Overview of the software 3.2 AddOn software structure AddOn technology → Basic Technology The following signals are forwarded via unit-global variables of the "AddOn" MCC source file from the AddOn technology to the Basic Technology: Table 3-3 AddOn technology → Variables Basic Technology Variable Format Meaning...
Page 37: Polarity Of Velocities And Position Values
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"...
Page 38: Dcc_Schoist
Overview of the software 3.3 Sway control function blocks ● DCC_SCCOMMON ● DCC_SCDIAG 3.3.1.1 DCC_SCHOIST Symbol 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.
Page 39 Overview of the software 3.3 Sway control function blocks Connections The inputs of the DCC block are connected via unit-global variables of the MCC source file "AddOn" to the outputs of the "FB_HoistPLCToAddOn" block. The DCC block outputs are interconnected with the inputs of the "FB_HoistAddOnToPLC" block using unit-global variables. Table 3-7 DCC_SCHOIST connections Name...
Page 40: Dcc_Sctrolley
Overview of the software 3.3 Sway control function blocks 3.3.1.2 DCC_SCTROLLEY Symbol 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.
Page 41 Overview of the software 3.3 Sway control function blocks Connections The inputs of the DCC block are connected via unit-global variables of the MCC source file "AddOn" to the outputs of the "FB_TrolleyPLCToAddOn" block. The DCC block outputs are interconnected with the inputs of the "FB_TrolleyAddOnToPLC" block using unit-global variables.
Page 42: Dcc_Sctargets
Overview of the software 3.3 Sway control function blocks Name Type Data Unit-global variables of "AddOn" Meaning type BTRAVEL_FW BOOL trolley_sc_travel_fw Forward BTRAVEL_BW BOOL trolley_sc_travel_bw Backward BSC_STATE BOOL trolley_sc_sc_state Sway control ON state BSTOP_AT_OBST_MAN_TR OUT BOOL trolley_sc_stop_at_obst_man Stopped before blocked region (MAN only) ILOAD_DEFL_TR trolley_sc_load_defl_tr...
Page 43 Overview of the software 3.3 Sway control function blocks Brief description The block is responsible for the internal administration of the target positions. Semi-automatic mode (SAM) is possible without this block. In this case, the targets must be specified by the crane control system.
Page 44: Dcc_Scobstacles
Overview of the software 3.3 Sway control function blocks Name Type Data Unit-global variables of "AddOn" Meaning type ILANE_UNLOAD_OK SINT targets_sc_lane_unload_ok Unload lane to the ship BPOS_SAVED BOOL targets_sc_pos_saved Saving the positions was suc‐ cessful BERROR BOOL Error bit from the block IERRORID DINT Error number from the block...
Page 45 Overview of the software 3.3 Sway control function blocks Method of operation Five obstacle regions can be transferred simultaneously. All previously transferred obstacle regions are removed on deletion. Connections The DCC block inputs are connected via unit-global variables of the "AddOn" MCC source file to the outputs of the "FB_ObstaclePLCToAddOn"...
Page 46: Dcc_Sccamera
Overview of the software 3.3 Sway control function blocks Name Type Data Unit-global variables of "AddOn" Meaning type IRET5_TR2 DINT Trolley position 2 of obstacle 5 IRET5_HOIST DINT Hoist position of obstacle 5 BPRG_OBST_OK BOOL obstacle_sc_prg_obst_ok Answer Obstacle regions accepted BOBST_DELETED BOOL obstacle_sc_obst_deleted...
Page 47 Overview of the software 3.3 Sway control function blocks Method of operation The block does not communicate directly with the camera measuring system. The ST programs in the FB blocks "FB_Receive_Analysis" and "FB_Send_Preparation" are required for this purpose. Integration into the execution system is described in Chapter Structure of the function module (Page 30).
Page 48: Dcc_Sctls2
Overview of the software 3.3 Sway control function blocks 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.
Page 49 Overview of the software 3.3 Sway control function blocks Connections Table 3-12 Block DCC_SCTLS2 Name Type Data Unit-global variables of "AddOn" Meaning type BCOMMAND_WORD1 UINT tls_cw1 Control word 1 (see the table be‐ low) BCOMMAND_WORD2 UINT tls_cw2 Control word 2 (see the table be‐ low) RPOS_SKEWAXIS LREAL...
Page 50 Overview of the software 3.3 Sway control function blocks Name Type Data Unit-global variables of "AddOn" Meaning type RSPEED_D LREAL If the normalized value is used, this in‐ Output velocity of cylinder D in terconnection is not required. mm/s (DCC output only, not included in PROFINET interface) RSPEED_SKEWAXIS LREAL...
Page 51 Overview of the software 3.3 Sway control function blocks Bit no. Name Meaning move_zero Activate the TLS mode "go to zero positions" as_on Skew-damping On/Off Note Out, in, up, down refer to the Figure 7-4 Directions of movement (Page 240). Table 3-14 Control bits in control word 2 Bit no.
Page 52: Dcc_Scintpo
Overview of the software 3.3 Sway control function blocks Bit no. Name Meaning c_out Extend cylinder C d_out Extend cylinder D a_in Retract cylinder A b_in Retract cylinder B c_in Retract cylinder C d_in Retract cylinder D Error messages If an error occurs in TLS control mode, the corresponding error bits and error numbers are set by the block and displayed via SIMOCRANE CeCOMM.
Page 53 Overview of the software 3.3 Sway control function blocks Connections The inputs of the DCC block are connected via unit-global variables of the MCC source file "AddOn" to the outputs of the "FB_IntpoPLCToAddOn" block. The DCC block outputs are interconnected with the inputs of the "FB_IntpoAddOnToPLC" block using unit-global variables. Table 3-16 DCC_SCINTPO connections Name...
Page 54: Dcc_Sccommon
Overview of the software 3.3 Sway control function blocks 3.3.1.8 DCC_SCCOMMON Symbol Figure 3-13 DCC_SCCOMMON Note 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.
Page 55 Overview of the software 3.3 Sway control function blocks Connections The inputs of the DCC block are connected via unit-global variables of the MCC source file "AddOn" to the outputs of the "FB_CommonPLCToAddOn" block. The DCC block outputs are interconnected with the inputs of the "FB_CommonAddOnToPLC" block using unit-global variables.
Page 56 Overview of the software 3.3 Sway control function blocks Name Type Data Unit-global variables of "AddOn" Meaning type BIMPNT_EXT_ACTIVE BOOL common_plc_impnt_ext_active STS selected: External immersion point active GSU selected: Not relevant IIMPNT_EXT DINT common_plc_impnt_ext STS selected: External immersion point from GSU selected: Not relevant IPARSET_OUT...
Page 57: Dcc_Scdiag
Overview of the software 3.3 Sway control function blocks 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.
Page 58: Addon Fb Library
Overview of the software 3.3 Sway control function blocks 6 - The controller required too much CPU time 3.3.2 AddOn FB library The source code of each FB block is open for customer-specific adaptations. The nomenclature for the AddOn function blocks is the same as the naming scheme for the SIMOCRANE Basic Technology [Ref 2].
Page 59 Overview of the software 3.3 Sway control function blocks Table 3-19 FB_CommonPLCToAddOn connections Name Type Data Unit-global variables of "AddOn" Meaning type Common_IO_PIW ARRAY addon_common_receive Input array for the Common [0..11] block (see Figure 5-13 Ad‐ OF word dress list in SCOUT (commu‐ nication between SIMATIC S7 and SIMOTION) (Page 122))
Page 60: Fb_Commonaddontoplc
Overview of the software 3.3 Sway control function blocks 3.3.2.2 FB_CommonAddOnToPLC Symbol (FBD representation) Figure 3-16 FB_CommonAddOnToPLC Task The "FB_CommonAddOnToPLC" block writes the Common block to the PROFIBUS DP / PROFINET PN output area. Connections The inputs must be connected using unit-global variables of the "AddOn" MCC source file with the outputs of the DCC_SCCommon DCC block.
Page 61: Fb_Hoistplctoaddon
Overview of the software 3.3 Sway control function blocks Name Type Data Unit-global variables of "AddOn" Meaning type bo_zsw1_pos_in_safety_area BOOL common_SC_pos_in_safety_area Bit 9 of status word 1 bo_zsw1_Pos_In_BR_Man BOOL common_sc_pos_in_br_man Bit 10 of status word 1 b32Error1 DWORD common_sc_error1 Error area 1 b32Error2 DWORD common_sc_error2...
Page 62: Fb_Hoistaddontoplc
Overview of the software 3.3 Sway control function blocks Connections The outputs must be connected using unit-global variables of the "AddOn" MCC source file with the inputs of the DCC_SCHOIST DCC block. Table 3-21 FB_HoistPLCToAddOn connections Name Type Data type Unit-global variables of "Ad‐...
Page 63: Fb_Trolleyplctoaddon
Overview of the software 3.3 Sway control function blocks Connections The inputs must be connected using unit-global variables of the "AddOn" MCC source file with the outputs of the DCC_SCHOIST DCC block. Table 3-22 FB_HoistAddOnToPLC connections Name Type Data type Unit-global variables of "Ad‐...
Page 64 Overview of the software 3.3 Sway control function blocks Task The "FB_TrolleyPLCToAddOn" block reads the input area from the PROFIBUS DP / PROFINET PN for the Trolley block and separates the array into words and bits. Connections The outputs must be connected using unit-global variables of the "AddOn" MCC source file with the inputs of the DCC_SCTROLLEY DCC block.
Page 65: Fb_Trolleyaddontoplc
Overview of the software 3.3 Sway control function blocks 3.3.2.6 FB_TrolleyAddOnToPLC Symbol (FBD representation) Figure 3-20 FB_TrolleyAddOnToPLC Task The "FB_TrolleyAddOnToPLC" block writes the Trolley block to the PROFIBUS DP / PROFINET PN output area. Connections The inputs must be connected using unit-global variables of the "AddOn" MCC source file with the outputs of the DCC_SCTROLLEY DCC block.
Page 66: Fb_Intpoplctoaddon
Overview of the software 3.3 Sway control function blocks Name Type Data Unit-global variables of "AddOn" Meaning type iS_Corr trolley_sc_s_corr Distance correction Trolley_IO_PQW ARRAY addon_trolley_send Output array for the Trolley block [0..5] OF (see Figure 5-13 Address list in word SCOUT (communication be‐...
Page 67: Fb_Intpoaddontoplc
Overview of the software 3.3 Sway control function blocks 3.3.2.8 FB_IntpoAddOnToPLC Symbol Figure 3-22 FB_IntpoAddOnToPLC Task The "FB_IntpoAddOnToPLC" block writes the Intpo block to the PROFIBUS DP / PROFINET PN output area. Connections The inputs must be connected to the outputs of the DCC_SCINTPO DCC block using the unit- global variables of the "AddOn"...
Page 68: Fb_Tlsplctoaddon
Overview of the software 3.3 Sway control function blocks 3.3.2.9 FB_TLSPLCToAddOn Symbol (FBD representation) Figure 3-23 FB_TLSPLCToAddOn Task The "FB_TLSPLCToAddOn" block reads the input area from the PROFIBUS DP / PROFINET PN for the DCC_SCTLS2 block and separates the array into words and bits. Connections The outputs must be connected using the unit-global variables of the "AddOn"...
Page 69: Fb_Tlsaddontoplc
Overview of the software 3.3 Sway control function blocks 3.3.2.10 FB_TLSAddOnToPLC Symbol (FBD representation) Figure 3-24 FB_TLSAddOnToPLC Task The "FB_TLSAddOnToPLC" writes the TLS block to the PROFIBUS DP / PROFINET PN output area. Connections The inputs must be connected using the unit-global variables of the "AddOn" MCC source file with the outputs of the DCC_SCTLS2 DCC block.
Page 70: Fb_Targetsplctoaddon
Overview of the software 3.3 Sway control function blocks Name Type Data type Unit-global variables Meaning of "AddOn" i16BSpeed_SkewAxis_Norm TLS_bspeed_skewaxis_norm Normalized output velocity of skew axis TLS_IO_PQW ARRAY addon_tls_send Output array for TLS block [0..15] OF (see Copying the address list WORD (Page 121)) 3.3.2.11...
Page 71: Fb_Targetsaddontoplc
Overview of the software 3.3 Sway control function blocks Connections The outputs must be connected using the unit-global variables of the "AddOn" MCC source file with the inputs of the DCC_SCTARGETS DCC block. Table 3-29 FB_TargetsPLCToAddOn connections Name Type Data Unit-global variables of "AddOn"...
Page 72 Overview of the software 3.3 Sway control function blocks Task The "FB_TargetsAddOnToPLC" block writes the Targets block to the PROFIBUS DP / PROFINET PN output area. Connections The inputs must be connected using the unit-global variables of the "AddOn" MCC source file with the outputs of the DCC_SCTARGETS DCC block.
Page 73: Fb_Obstacleplctoaddon
Overview of the software 3.3 Sway control function blocks 3.3.2.13 FB_ObstaclePLCToAddOn Symbol (FBD representation) Figure 3-27 FB_ObstaclePLCToAddOn Task The "FB_ObstaclePLCToAddOn" block reads the input area from the PROFIBUS DP / PROFINET PN for the Obstacles block and separates the array into words and bits. Connections The outputs must be connected using the unit-global variables of the "AddOn"...
Page 74: Fb_Obstacleaddontoplc
Overview of the software 3.3 Sway control function blocks Name Type Data Unit-global variables of "Ad‐ Meaning type dOn" bo_stw1_Pgr_Obst OUT BOOL obstacle_plc_pgr_obst Bit 0 of control word 1 bo_stw1_Del_Obst OUT BOOL obstacle_plc_del_obst Bit 1 of control word 1 i32Set1_Tr1 OUT DINT obstacle_plc_set1_tr1 Trolley position 1 of obstacle 1...
Page 75: Fb_Adddataplctoaddon
Overview of the software 3.3 Sway control function blocks Connections The inputs must be connected using the unit-global variables of the "AddOn" MCC source file with the outputs of the DCC_SCOBSTACLES DCC block. Table 3-32 FB_ObstacleAddOnToPLC connections Name Type Data Unit-global variables of "AddOn"...
Page 76 Overview of the software 3.3 Sway control function blocks Connections The outputs can be further interconnected using the unit-global variables of the "AddOn" MCC source file. No unit-global variables are created for unused outputs. Table 3-33 FB_AddDataPLCToAddOn connections Name Type Data type Unit-global variables of "AddOn"...
Page 77: Fb_Adddataaddontoplc
Overview of the software 3.3 Sway control function blocks Name Type Data type Unit-global variables of "AddOn" Meaning b16AddData2_Word15 WORD Not connected b16AddData2_Word16 WORD Not connected b16AddData3_Word1 WORD Not connected b16AddData3_Word2 WORD Not connected b16AddData3_Word3 WORD Not connected b16AddData3_Word4 WORD Not connected b16AddData3_Word5 WORD...
Page 78 Overview of the software 3.3 Sway control function blocks Connections The inputs can be further interconnected using the unit-global variables of the "AddOn" MCC source file. No unit-global variables are created for unused inputs. Table 3-34 FB_AddDataAddonToPLC connections Name Type Data type Unit-global variables of "AddOn"...
Page 79: Fb_Receive_Analysis
Overview of the software 3.3 Sway control function blocks Name Type Data type Unit-global variables of "AddOn" Meaning b16AddData3_Word2 WORD Not connected b16AddData3_Word3 WORD Not connected b16AddData3_Word4 WORD Not connected b16AddData3_Word5 WORD Not connected b16AddData3_Word6 WORD Not connected AddData1_IO_PIW AR‐ RAY[0..15] OF WORD Output array for additional...
Page 80: Fb_Send_Preparation
Overview of the software 3.3 Sway control function blocks Connections At the input of the "FB_Receive_Analysis" function block, the data received is separated and interconnected to the associated output variables of the block. The outputs must be connected using the unit-global variables of the "Camera" MCC source file with the inputs of the DCC_SCCAMERA DCC block.
Page 81: Fb_Readwrite_Mv440
Overview of the software 3.3 Sway control function blocks Connections The input block is connected with the output of the DCC_SCCAMERA DCC block using a unit- global variable. The output signal is transferred to the camera measuring system via Ethernet. Table 3-36 FB_Send_Preparation connections Name...
Page 82 Overview of the software 3.3 Sway control function blocks Connections The input and output signals are connected using unit-global variables to the DCC_SCCAMERA DCC block. Table 3-37 FB_ReadWrite_MV440 connections Name Type Data type "Camera" unit-global variables i_ab8user ARRAY [0 ... 31] OF Byte i_io_user i_b8Status BYTE...
Page 83: Communication Interface To Simatic S7
Communication interface to SIMATIC S7 The entire Sway Control interface between SIMATIC S7 and SIMOTION D is illustrated in this chapter. A bitwise representation is given for the control and status words and all signals are described with details of the associated format and relevant unit. SIMATIC S7 →...
Page 84 Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Signal name Unit Format Remark DS_WIDTH Overall width in double-spreader operation DS_WIDTH is limited to values between 2*P106 and 32 767 mm. The value is operative only when STS is selected. The value has no meaning when GSU is selected.
Page 85 Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Signal name Remark SLACKROPE Slack rope 0: No slack rope 1: Slack rope present The reaction of the software is described in Chapter Slack rope (Page 219) BAYSCANNER_VALID Selection of bay scanner 0: The bay scanner is not selected.
Page 86: Hoist
Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Signal name Remark IMPNT_EXT_ACTIVE Activate external immersion point The current immersion point is switched between the internal and the external immersion point with this bit. 0: Activate internal immersion point 1: Activate external immersion point Switchover is only possible if semi-automatic mode is not active.
Page 87 Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Signal name Remark Positioning mode (POS) A set position is specified by the higher-level control system or the target generator. In this mode, the hoist travels to this position. 0: Not active 1: Active Manual mode (MAN)
Page 88: Trolley
Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn 4.1.3 Trolley Table 4-5 SIMATIC S7 → SIMOTION, Trolley Signal name Unit Format Remark STW1_PLC_Trolley WORD Control word See table below OVERRIDE 0-100% Velocity limit This value can be used to limit the trolley velocity. The maximum possible output velocity is calculated from the override as a per‐...
Page 89 Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Signal name Remark Sway neutralization drive position mode (SND) 0: Not active 1: Active The control bit is operative only when STS is selected. This bit has no meaning when GSU is selected.
Page 90: Intpo
Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn 4.1.4 Intpo Table 4-7 SIMATIC S7 → SIMOTION, Trolley Signal name Unit Format Remark STW1_PLC_Intpo WORD Control word See table below LIST_IDX Byte 1 Received interpolation point number The interpolation point number selects a particular interpolation point and returns its hoist and trolley positions.
Page 91 Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Table 4-10 STW1_PLC_TLS Signal name Remark save_zero Save zero position 0: No command 1: Save current cylinder positions as zero positions command Remark If move = 0, the parameter sets of parameters P250 to P253 are overwritten as zero positions by the current cylinder positions.
Page 92 Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Signal name Remark list_water List water ("TLS jogging" mode) Cylinders: B, C in / A, D out Spreader: B, C down / A, D up 0: No command 1: Incline to the waterside command list_land List land ("TLS jogging"...
Page 93: Targets
1: Resetting an internal oscillation model 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 Signal name Unit Format Remark STW1_PLC_Targets WORD Control word (see below, Table STW1_PLC_Targets) LANE_SHIP_LOAD 1...99...
Page 94 Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Table 4-13 STW1_PLC_Targets Signal name Remark LEARN_PARK_POS Save parking position This bit is used for saving the current position as parking position. 0: Do not save parking position 1: Save parking position LEARN_LASH_PLATF Save lashing position...
Page 95: Obstacles
Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Signal name Remark INIT_TARGET INIT_TARGET 1: Target position list is initialized. TL positions are not saved. 0: Target position list is not initialized. TL positions are saved. 10-15 Reserved 4.1.7...
Page 96: Adddata
Communication interface to SIMATIC S7 4.1 SIMATIC S7 → SIMOTION D for AddOn Signal name Unit Format Remark SET5_HOIST DINT Hoist position for obstacle 5 Reserved Table 4-15 STW1_PLC_Obstacles Signal name Remark PRG_OBST Program obstacles Transfer of the external variable obstacles used to calculate the trajectory. 0: Do not apply 1: Apply (see Chapter Blocked regions (Page 170)) DEL_OBST...
Page 97: Simotion D For Addon → Simatic S7
Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 SIMOTION D for AddOn → SIMATIC S7 4.2.1 Common Table 4-19 SIMOTION → SIMATIC S7, Common Signal name Unit Format Remark ZSW1_Common_PLC WORD Status word see below, Table "ZSW1_Common_PLC" FAULT1 DWORD Error message 1...
Page 98 Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 Table 4-20 Status word "ZSW1_Common_PLC" Signal name Remark CAMERA_OK Camera OK 0: The measured values from the camera (SIMOCRANE CenSOR) are in‐ valid or communication is down. 1: The camera (SIMOCRANE CenSOR) is supplying valid values and com‐...
Page 99 Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 Signal name Remark EXT_IMPNT_SMALLER External immersion point less than internal immersion point The bit indicates whether the external immersion point is less than the inter‐ nal immersion point. 0: External immersion point >= internal immersion point 1: Ext.
Page 100: Hoist
Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 Signal name Remark Hoist below immersion point Hoist below immersion point (STS only) The hoist is below the immersion point. This affects only the waterside. This bit has no meaning when GSU is selected. Target in Var obstacle Target in Var obstacle Travel starts in SAM mode, but is stopped before/above the variable blocked region.
Page 101 Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 Signal name Remark POS_COMPLETED Positioning completed Manual mode: Internal set velocity (V_REF) > 0 or output velocity (V_POS) > P44 Zero speed detection or rising edge of the TRAVEL control bit of the hoist 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 P165.
Page 102: Trolley
Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 4.2.3 Trolley Table 4-24 SIMOTION D 435-2 DP/PN → SIMATIC S7, Trolley Signal name Unit Format Remark ZSW1_Trolley_PLC WORD Status word (see below, Table ZSW1_Trolley_PLC) LOAD_DEFL_TR ± mm Pendulum deflection, camera (see Chapter Calculation of the pendulum deflection (Page 160)) IMOD_DEFL_TR...
Page 103 Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 Signal name Remark SC_COMPLETED Sway-neutralized: 0: The sway exceeds the value in P169 (permitted residual sway) 1: The sway lies below the value in P169. A time delay of ten cycles is applied. It is not only the current deflection that is considered (because this changes constantly during one oscillation period), but also the pendulum velocity.
Page 104: Intpo
Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 4.2.4 Intpo Table 4-26 SIMOTION → SIMATIC S7, Intpo Signal name Unit Format Remark ZSW1_Intpo_PLC WORD Status word See table below CURR_IDX Byte 1 Sent interpolation point number Current interpolation point number that is returned COUNT Byte 2...
Page 105 Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 Table 4-29 ZSW1_TLS_PLC Signal name Remark motion_terminated_ska 0: Conditions for stopping the skew drive are not fulfilled 1: Motion terminated, skew drive zero 0: Conditions for zero position are not fulfilled 1: Zero position reached motion_terminated 0: Conditions for stopping the cylinders are not fulfilled...
Page 106: Targets
Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 4.2.6 Targets Table 4-30 SIMOTION D 435-2 DP/PN → SIMATIC S7, Targets Signal name Unit Format Remark ZSW1_Targets_PLC WORD Status word (see below, Table ZSW1_Targets_PLC) LANE_LOAD_OK 1 ... 99 SINT Confirmation lane number loading Confirmation of the lane number for loading...
Page 107: Obstacles
Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 4.2.7 Obstacles Table 4-32 SIMOTION → SIMATIC S7, Obstacles Signal name Unit Format Remark ZSW1_Obstacles_PLC WORD Status word See table below NUMBER_OBST Number of obstacle regions Number of externally learned variable obstacle regions + number of internally learned obstacle regions 3-32 Reserved...
Page 108 Communication interface to SIMATIC S7 4.2 SIMOTION D for AddOn → SIMATIC S7 Table 4-35 SIMOTION → SIMATIC S7, AddData 2 Signal name Unit Format Remark 1-16 Reserved Table 4-36 SIMOTION → SIMATIC S7, AddData 3 Signal name Unit Format Remark 1-16 Reserved...
Page 109: Configuration
Configuration Requirement Workable project The precondition for installation of the AddOn technology is a workable project of the Basic Technology [Ref 2] because every AddOn sway control corresponds to at least one version of the Basic Technology (SIMOTION SCOUT version V5.2 SP1 or higher, SINAMICS version V5.1 HF1 or higher, and SIMOCRANE Basic Technology version V3.0 or higher).
Page 110: Overview Of The Configuring Steps To Be Performed
Configuration 5.2 Overview of the configuring steps to be performed Checking the system cycle clocks The task runtime settings must also be checked. The "Simotion" entry must be selected in SCOUT for this purpose. The "Set System Cycle Clock" shortcut menu should be used to set the system cycle clocks as shown in the following screenshot.
Page 111: Performing Setup
Configuration 5.4 Importing the (SCOUT) application project of the AddOn technology Performing setup Note SCOUT must be closed for installation of the AddOn DCC library. To install the required DCC library, the setup file must be run from the directory Product/ Software/DCC_Library on the DVD.
Page 112: Profinet Configuration
Configuration 5.5 PROFINET configuration Depending on the version (Page 18), select the file "SwayControl_SimoD_GSU_PN.xml" or "SwayControl_SimoD_STS_PN.xml" on the DVD for import. After clicking "OK" to confirm, enter an arbitrary project name in the following window and select a target folder for the project. Note The application project is stored on the DVD in the form of a zip file.
Page 113 If the UDP protocol is used, 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. SC integrated STS, GSU...
Page 114 Configuration 5.5 PROFINET configuration Figure 5-5 Object properties of the PNxIO interface Activate I-device mode for the PNxIO connection. This is done under "Properties" → "PNxIO" in the "I-Device" tab. Set the check mark for "I-device mode". Figure 5-6 Activating I-device mode After I-device mode has been activated, the data exchange between SIMATIC S7 and SIMOTION must be configured.
Page 115 Configuration 5.5 PROFINET configuration Table 5-1 I/O address ranges for the AddOn technology Block Functions Length (word) I/O address range DCC_SCCOMMON Common 2000-2023 DCC_SCHOIST Hoist 2024-2035 DCC_SCTROLLEY Trolley 2036-2047 DCC_SCINTPO Interpolation points 2048-2059 DCC_SCTLS2 (STS only) TLS (STS only) 2060-2091 DCC_SCTARGETS Targets 2092-2103...
Page 116 Configuration 5.5 PROFINET configuration The send and receive direction must be configured for every function. For example, 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 SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 117 Configuration 5.5 PROFINET configuration Figure 5-9 Properties of the input words Further addresses can also be added to extend the address range. Create a new GSD file in this case. Please observe the note about the S7 hardware configuration below. To create a new GSD file, select →...
Page 118 Configuration 5.5 PROFINET configuration Figure 5-10 Creating a GSD file Note If you have extended the address range by adding more addresses, you can no longer use the PNxIO station from the supplied application project, as this will no longer match the address range of the SIMOTION.
Page 119 Configuration 5.5 PROFINET configuration SIMATIC S7 hardware configuration Copy the PNxIO station from the supplied application project into your user project. The name is automatically changed when you paste the station. Open the station and change the name back to the original name. The station must have the same name as the PN line of the SIMOTION, i.e.
Page 120: General Information
Configuration 5.5 PROFINET configuration Figure 5-12 NetPro overview with camera via PROFINET 5.5.2 General information Open the (SCOUT) application project of the Basic Technology [Ref. 2] (user project) and the supplied SCOUT application project of the AddOn technology (application project). Later, once PROFINET has been configured, you can copy the programs from one project into the other project.
Page 121: Defining The Telegram
Configuration 5.6 Copying the address list The following PROFINET addresses have been defined for the PROFINET PN interfaces on the SIMOTION D: Table 5-2 PROFINET PN interfaces on the SIMOTION D for AddOn technology PN interface Communication between ... PN address PNxIO SIMATIC S7 and SIMOTION D (Basic 192.168.1.1...
Page 122 Configuration 5.6 Copying the address list Figure 5-13 Address list in SCOUT (communication between SIMATIC S7 and SIMOTION) To perform the copy operation, open the address list in the application project and select all the I/O arrays. You can then copy these using the shortcut menu in the application project and paste them into the first free line of the address list of the user project with Basic Technology.
Page 123: Copying The Addon Fb Library
Configuration 5.7 Copying the AddOn FB library ① User project ② Application project Figure 5-14 Copying the address list Copying the AddOn FB library The library is copied from the application project to the user project with the Basic Technology. To do this, select the library in the AddOn_FB_Library and copy it using the shortcut menu.
Page 124 Configuration 5.7 Copying the AddOn FB library ① User project ② Application project Figure 5-16 Pasting the "AddOn_FB_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. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 125 Configuration 5.7 Copying the AddOn FB library If errors occur when the AddOn FB library is accepted and compiled on devices with a higher software/hardware version, proceed as follows: 1. Select the "Properties..." command from the shortcut menu. 2. Click the "Technology packages/technology objects" tab. 3.
Page 126: Copying Mcc Source Files
Configuration 5.8 Copying MCC source files Copying MCC source files After the successful compilation, the "AddOn" and "Camera" MCC source files (STS only) can be copied into the user project (with the Basic Technology). ① User project ② Application project Figure 5-19 Copying the MCC source file in the application project ①...
Page 127: Inserting Dcc Blocks
Configuration 5.9 Inserting DCC blocks Inserting DCC blocks Before you copy the "SwayControl" DCC chart, update the DCC block library. Open a DCC chart of your choice, e.g. "SwayControl", in the application project. Under the "Options" menu item, select "Block types...". Figure 5-21 Updating block types Click "OK"...
Page 128 Configuration 5.9 Inserting DCC blocks Figure 5-23 Importing the DCC library The selected library is shown in the right-hand frame. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 129 Configuration 5.9 Inserting DCC blocks Figure 5-24 DCC library imported You can now copy the "SwayControl" DCC chart from the application project to the user project. To do this, select the chart in the application project using the right mouse button and copy it. ①...
Page 130 Configuration 5.9 Inserting DCC blocks In the user project, you can paste the chart via the shortcut menu of the "PROGRAMS" folder. ① User project ② 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. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 131: Establishing The Connection Between Basic Technology And Addon
Configuration 5.10 Establishing the connection between Basic Technology and AddOn 5.10 Establishing the connection between Basic Technology and AddOn Establish the connections for velocity and position for communication between the Basic Technology and the AddOn. This is performed automatically in the case of application projects in version V2.1 SP2 or higher.
Page 132: Connection Between Skew Damping Technology Object And Dcc Block Tls2
Configuration 5.11 Connection between skew damping technology object and DCC block TLS2 Figure 5-28 Displaying AddOnMCC Click "Mask in" to activate the blocks. 5.11 Connection between skew damping technology object 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.
Page 133 Configuration 5.11 Connection between skew damping technology object and DCC block TLS2 To make the connection between the active skew technology object and the DCC_TLS2 block, proceed as follows: 1. Copy the I/O arrays from the application project into the address list, starting with the name "ActiveSkew_".
Page 134: Execution System
Configuration 5.13 Saving, compiling and checking consistency 5.12 Execution system The MCC charts in the newly inserted "AddOn" (GSU and STS) and "Camera" (STS only) MCC source files have to be integrated into the execution system; see screenshot below. Figure 5-29 Linking the MCC charts into the execution system 5.13 Saving, compiling and checking consistency...
Page 135: Downloading The User Project To The Cf Card
Configuration 5.14 Downloading the user project to the CF card 5.14 Downloading the user project to the CF card General The user project must be transferred to the CF card. This can be done via an online connection, or offline using a commercially available card reader. Transfer via an existing online connection Figure 5-30 Transferring the user project online...
Page 136 Configuration 5.14 Downloading the user project to the CF card Figure 5-31 Copying the user project to CF card directly SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 137 Configuration 5.14 Downloading the user project to the CF card Figure 5-32 Selecting the CF card in the card reader as the target SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 138: Transferring Language Files, Online Help Files, Java Files And Parameter Files To The Cf Card
CF card After completion of configuring with SIMOTION SCOUT, several files must be transferred to the CF card of the SIMOTION D4x5-2 DP/PN. From the directory "Product/Software/Files_for_CF_Card" on the DVD, copy all the files and the SWAYCONTROL directory into the main directory of the CF card.
Page 139 Configuration 5.15 Transferring language files, online help files, JAVA files and parameter files to the CF card Figure 5-33 Card image of the CF card SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 140: Creating The License Key And Downloading It To The Cf Card
(Page 20), a license key is required and must be transferred to the CF card. Proceed as follows: 1. Have the Certificate of License supplied with the product to hand. 2. Generate a license key using the "Web License Manager". To do this, use the Internet link https://www.siemens.com/automation/license (https://www.siemens.com/automation/ license) and follow the instructions.
Page 141: Communication Tests For The Sts Application Project
The I/O address range of 2092-2103 is reserved for the DCC_SCTARGETS DCC block. When this value reaches the SIMOTION D4x5-2 DP/PN, it must be available in the I/O area. To do this, the "I/O" is selected and the symbol browser observed (see following figure).
Page 142 Configuration 5.17 Communication tests for the STS application project Figure 5-35 I/O area The value specified by the S7 is present in the I/O area. Note To prevent misunderstandings, the display format should be identical with that of the S7. Step 3: Check the value at the inputs of the FB block The "AddOn"...
Page 143 Configuration 5.17 Communication tests for the STS application project Figure 5-37 Signal in the function block The "FB_TargetsPLCToAddOn" function block copies word 1 (targets_io_piw[0]) to the "b16_STW1" output and also separates it into bits. These are applied to the block outputs. The bit separation has the following form: bo_STW1_Learn_Park_Pos = 0 (control word 1, bit 0)
Page 144 Configuration 5.17 Communication tests for the STS application project Step 4: Check the value at the inputs of the DCC block The outputs of the function block are interconnected with unit-global variables. The inputs and outputs of the DCC blocks from the DCC charts are interconnected with the unit-global variables.
Page 145 Configuration 5.17 Communication tests for the STS application project Step 5: Checking values in the SIMOCRANE CeCOMM diagnostic program Correct data exchange must be checked on display screens 1 to 3 of the SIMOCRANE CeCOMM diagnostic program. The displayed values are used and processed in the sway control system.
Page 146 Configuration 5.17 Communication tests for the STS application project SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 147: Sway Control Function Description
3. No controller enable signal is present 4. Reference position approached (homing) In SIMOTION D4x5-2 DP/PN, the Motion-In interface is activated when the Basic Technology mode Sway Control is selected. This means the velocity setpoints are not transferred by the travel commands to the technology object, but rather the velocity output value is transferred directly from the AddOn technology to the technology object.
Page 148: Sway Control Operating Modes
Sway Control function description 6.2 Sway Control operating modes Note In master-slave operation or synchronous operation, the Basic Technology mode Sway Control must be selected for both the master and the slave. The "Sway control active" confirmation (via HOIST1_APPL_ZSW1_BIT15 and TROLLEY1_APPL_ZSW1_BIT15) sets the release for the "Trolley"...
Page 149: Manual Mode (Man)
Sway Control function description 6.2 Sway Control operating modes Only one operating mode can be selected for each drive at any time. The operating mode is selected by the PLC by setting the appropriate operating mode bit. WARNING Danger to life as a result of incorrect or modified parameterization Incorrect parameter assignment can cause machines to malfunction, which can lead to injuries or death.
Page 150: Activation
Sway Control function description 6.2 Sway Control operating modes 6.2.1.2 Activation Manual mode (MAN) is activated by setting the appropriate MAN control bit (STW1_PLC_Trolley, STW1_PLC_Hoist). This operating mode can be started from all other modes without having to stop the drives. 6.2.1.3 Control In manual mode (MAN), the TRAVEL control bit is set by operating the master switch.
Page 151 Sway Control function description 6.2 Sway Control operating modes Section 2: The master switch is operated. The TRAVEL control bit must be set. If this is the case and no error is present, the direction signals, and thus the signals for opening the brake, are set. Section 3: The brake is open (BRAKE_CLOSED control bit is reset).
Page 152: Positioning (Pos)
Sway Control function description 6.2 Sway Control operating modes 6.2.2 Positioning (POS) 6.2.2.1 Method of operation In positioning (POS) mode, the higher-level control system can specify a target position for each individual drive. This position is approached automatically after enabling. The trolley is controlled in such a way that the load sway is eliminated not only when the positioning velocity is reached, but also at the target position.
Page 153 Sway Control function description 6.2 Sway Control operating modes Figure 6-5 Signal sequence at the start of travel in positioning mode (trolley) Section 1: The sway control system is activated and positioning mode is selected for the drive. A target position has been specified.
Page 154 Sway Control function description 6.2 Sway Control operating modes Figure 6-6 Signal sequence at the end of travel in positioning mode (trolley) Section 1: Sway-controlled travel of drive towards target position. Section 2: Actual position approaches target position. Output velocity "rV_POS_TR" decreases. Section 3: Target position reached The output velocity "rV_POS_TR"...
Page 155: Semi-Automatic Mode (Sam)
Sway Control function description 6.2 Sway Control operating modes 6.2.3 Semi-automatic mode (SAM) 6.2.3.1 Method of operation Semi-automatic mode (SAM) permits automatic movement of the trolley and hoist along a trajectory. In SAM mode, the blocked regions are taken into account in the trajectory calculation.
Page 156 Sway Control function description 6.2 Sway Control operating modes Figure 6-7 Control in semi-automatic mode (trolley) Start of travel Requirements All the bits in the control word must be set or reset as described for positioning. For at least one drive, the target position must differ from the actual position.
Page 157 Sway Control function description 6.2 Sway Control operating modes these must be transferred before the control bit is set. Calculation of the travel curve is then started. The direction signals, and thus the signals for opening the brake, are set when the calculation has completed.
Page 158: Sway Neutralization Load Position (Snl)
Sway Control function description 6.2 Sway Control operating modes 6.2.4 Sway neutralization load position (SNL) 6.2.4.1 Method of operation The sway neutralization load position mode (only for the version with the SIMOCRANE CenSOR camera measuring system) is used to eliminate load sway from the stationary state. Constant load deflections are not taken into account.
Page 159: Control
Sway Control function description 6.3 Generating the TRAVEL control bit 6.2.5.3 Control The control of SND mode is similar to the Control (Page 152) of POS mode. Generating the TRAVEL control bit WARNING Danger to life due to unexpected machine movement When the TRAVEL control bit is set, unexpected movements which may result in injury or death can occur after the crane has reached the stationary state.
Page 160: Activating/Deactivating The "Sway Control" Function
Sway Control function description 6.4 Activating/deactivating the "sway control" function POS and SAM modes The TRAVEL control bit is generated by means of a foot-operated switch, for example. However, in this case, a target position is entered. The set velocity (rV_Set_TR) is not used in this mode.
Page 161 Sway Control function description 6.4 Activating/deactivating the "sway control" function Figure 6-10 Calculation of the pendulum deflection SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 162: Activating The "Sway Control" Function
Sway Control function description 6.4 Activating/deactivating the "sway control" function Note In error-free operation with a camera (refer to the left-hand column in the figure), the calculation model is continuously synchronized with the value measured by the camera except in the following instance: If the amplitude of the deflection is less than 20 mm, the calculation model is only synchronized if the TRAVEL control bit is set and a setpoint >...
Page 163: Braking Distance Correction (S_Corr) Due To Influence Of Sway Control
Sway Control function description 6.5 Drive activation and brake control ● The hoist is located: – above the set upper sway control limit (P83) - OR - – below the set low sway control limit (P84) ● License is damaged or missing. ●...
Page 164: Controlled Stop
Sway Control function description 6.7 Terminating a travel operation This way the drives are activated and the brakes opened in the crane control system. As soon as the brakes are open, the output velocity is enabled with the BRAKE_CLOSED control bit. The output velocity is output and the drive starts.
Page 165: Acceleration And Deceleration Behavior
Sway Control function description 6.8 Acceleration and deceleration behavior ● A limit switch has responded. Consequence: – Braking at maximum deceleration In MAN mode, operation of the limit switch is direction-dependent. In all other modes, it operates independently of the direction of travel. –...
Page 166: Immersion Point
Sway Control function description 6.9 Immersion point Compliance with the limit values always has priority over compensation of load sway. Figure 6-11 Acceleration and deceleration behavior of the sway control system Immersion point You can choose between an internal and an external immersion point via the IMPNT_EXT_ACTIVE (STW1_PLC_Common) control bit.
Page 167 Sway Control function description 6.9 Immersion point The principle and necessity of the immersion point are explained below: ● At point A, the immersion point is set to a value that is located above the "real" deck height because the spreader is lowered between two container stacks. Below point A, the trolley will therefore in all probability no longer move faster than the velocity limits set in P46 (see figure below "Setting the immersion point").
Page 168 Sway Control function description 6.9 Immersion point The immersion point is limited internally by the initialization value and the minimum position for positioning the hoist (P63). Calculating the initialization value for the immersion point The initialization value is calculated by the system according to the locking state of the spreader. Table 6-1 Calculation of the initialization value Locking state of the spreader...
Page 169: External Immersion Point
Sway Control function description 6.9 Immersion point Figure 6-13 Setting the immersion point The condition is satisfied in area A. The immersion point is reduced to the current hoisting height in each cycle until the velocity falls below the velocity limit. The hoisting height at this moment is then maintained.
Page 170: Blocked Regions
Sway Control function description 6.10 Blocked regions ● The current active immersion point (IMPNT) is transmitted to the crane control system. It can be displayed on the HMI if necessary. ● Even when the external immersion point is active, the internal immersion point is always continuously updated.
Page 171 Sway Control function description 6.10 Blocked regions Blocked regions Note Blocked regions are only observed when they are used in semi-automatic mode (SAM) and, if activated, in manual mode (MAN). A blocked region is an extension of the obstacle coordinates which enables the crane geometry and a safety clearance to be taken into account.
Page 172 Sway Control function description 6.10 Blocked regions If the measured values of the bay scanner are not used, the height profile during loading and unloading at the beginning of the learning process will not correspond to the real container stack, but does come closer to it with each loading and unloading operation. Double spreader The sway control system can also be used on cranes with a double spreader in single mode and in tandem mode.
Page 173 Sway Control function description 6.10 Blocked regions spreader. The current total width is taken into account in the calculation of the obstacles. The minimum value is 2*P106. Note Single spreader In the case of the hoist, calculation of the trajectory refers to the lower edge of the spreader and, in the case of the trolley, to the center of the trolley.
Page 174: Fixed Blocked Regions
Sway Control function description 6.10 Blocked regions 6.10.2 Fixed blocked regions Fixed blocked regions are primarily defined on the landside. They are entered using CeCOMM in the "B" region menu (set blocked regions) during commissioning and stored in the "Par0.txt" parameter file.
Page 175 Sway Control function description 6.10 Blocked regions Figure 6-15 Sequential transfer of external variable obstacles If more than five obstacles have to be transferred, the transfer must be performed sequentially, i.e. over several cycles. A special control bit and status bit are provided for this purpose. ●...
Page 176: Internally Learned Variable Blocked Regions
Sway Control function description 6.10 Blocked regions 6.10.4 Internally learned variable blocked regions During initialization, a blocked region is created that reaches from the start of the waterside (P26) up to the maximum position (P28) and that covers the complete hoisting range (P63 to 69) that can be approached in semi-automatic mode.
Page 177: Defining The Blocked Regions
Sway Control function description 6.10 Blocked regions An initialization of the internally learned variable blocked regions must be performed when ● the crane has been switched off for an extended period (e.g. 5 minutes) ● the gantry travels so far that it is no longer located above the learned container row ●...
Page 178: Locking State Of The Spreader As A Function Of The Spreader Constellation
Sway Control function description 6.10 Blocked regions Note Overshooting the trolley and load around the target position cannot always be avoided. To prevent collisions in and at the blocked regions during travel in semi-automatic mode, a suitable safety clearance must be set for the trolley (P33). To determine the maximum overshoot of the load, travel in semi-automatic mode with the longest pendulum length must be performed after the sway control system has been optimized.
Page 179: Lock Bits
Sway Control function description 6.10 Blocked regions This constellation applies: ● When one spreader is used which can only pick up one container ● When one double-spreader is operated in single mode, i.e. the waterside spreader has been pulled up to the upper limit switch Double-spreader operation (tandem operation) A landside spreader and a waterside spreader are in use.
Page 180: Forming Blocked Regions During The Learning Travel
Sway Control function description 6.10 Blocked regions LOCKED_BIT0 LOCKED_BIT1 Meaning Scenario C: Either the landside or waterside spreader is locked in double-spreader operation (tan‐ dem operation). The function is identical to scenario B. Scenario D: One container is locked in single-spreader operation. The landside spreader and the waterside spreader are locked in double-spreader op‐...
Page 181 Sway Control function description 6.10 Blocked regions Scenario A Scenario A defines a learning travel if none of the containers is locked. It is applicable to all spreader constellations. Hoist safety clearance (SAM) Hoist safety clearance (MAN) Figure 6-16 Forming blocked regions - scenario A Explanation of the diagram: ●...
Page 182 Sway Control function description 6.10 Blocked regions Explanation of the diagram: ● Blocked region height = current hoist position (lower edge of spreader) + P72 + P108 ● If a spreader is not locked, the blocked region is placed at "lower edge of spreader + P72 + P108".
Page 183: Forming The Immersion Point During A Learning Travel
Sway Control function description 6.10 Blocked regions As soon as a lower container is locked during a learning travel, the blocked region may not be lowered by P108 (starting at the lower edge of the spreader) after the container is unlocked or else there will be a risk of collision.
Page 184 Sway Control function description 6.10 Blocked regions 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. P108 Maximum container height Minimum container height Figure 6-20 Forming the immersion point - scenarios B and C Explanation of the diagram: The immersion point is set at the "current hoist position (lower edge of spreader) + P108 –...
Page 185: Collision Protection - Soft Approach
Sway Control function description 6.11 Collision protection - soft approach The immersion point is lowered by P108 (maximum container height) during unlocking. The immersion point thus behaves in the same way as the blocked regions (except that P72 is not included in the process). 6.11 Collision protection - soft approach 6.11.1...
Page 186 Sway Control function description 6.11 Collision protection - soft approach Figure 6-22 Soft approach with fixed blocked regions. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 187 Sway Control function description 6.11 Collision protection - soft approach Variable blocked regions Before a variable blocked region, the velocity is reduced to P16/P56 with sway control and the blocked region is entered at this velocity. Limiting to 0% is not possible to permit learning of the variable (internally learned) blocked regions.
Page 188 Sway Control function description 6.11 Collision protection - soft approach Note Only use soft approach in conjunction with the conventional control method (see Selection of the control method (Page 193)). SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 189: Position-Dependent Monitoring Functions Of Semi-Automatic Mode (Sam) / Manual Mode (Man)
Sway Control function description 6.11 Collision protection - soft approach 6.11.2 Position-dependent monitoring functions of semi-automatic mode (SAM) / manual mode (MAN) The monitoring functions depend on: ● Type of blocked region – Fixed blocked region – Variable blocked region ●...
Page 190 Sway Control function description 6.11 Collision protection - soft approach Table 6-4 Overview of reactions to blocked regions Fixed blocked regions Variable blocked regions External Internally learned Start position in blocked region Semi-automatic mode Semi-automatic mode starts. Only the hoist is con‐ does not start.
Page 191 Sway Control function description 6.11 Collision protection - soft approach Variable blocked region SAM If the actual position is in the obstacle of a variable blocked region (red) when travel starts in SAM mode, a travel request is nevertheless executed and error message E36 "Starting point in variable blocked region (SAM)"...
Page 192: Velocity-Dependent Monitoring Functions Before Semi-Automatic Mode Starts
Sway Control function description 6.11 Collision protection - soft approach Entering the safety clearance during travel in the SAM mode If the safety clearance (yellow) of a fixed or variable blocked region is entered during travel in SAM mode (e.g. when damping oscillation), the reaction is as follows: Hoisting is no longer the prioritized operation.
Page 193: Selection Of The Control Method
Sway Control function description 6.12 Selection of the control method Error E58 is triggered in the following cases: ● The trolley is moving at a velocity of >20% (reference value is P0) forward or backward. ● The hoist is moving at a velocity of >3% (reference value is P40) in the lowering direction. A movement in the hoisting direction does not result in an error message.
Page 194: Time-Optimized Control
Sway Control function description 6.12 Selection of the control method 6.12.3 Time-optimized control 6.12.3.1 General information The time-optimized algorithm calculates the ramps in such a way that, on reaching the desired set velocity, oscillation is eliminated. External influences that result in deviations are eliminated in the conventional way. This applies particularly during stopping.
Page 195: Target Generator
Sway Control function description 6.13 Target generator The influence on the effectiveness of the sway control must be significantly less than for the PT1 element. It is, however, recommended that the best compromise between the effectiveness of the sway control and the suppression of the relaxation oscillation is determined empirically. If the parameter is set to zero, the effect of the input shaper will be deactivated.
Page 196: Parameterization
Sway Control function description 6.13 Target generator 6.13.2 Parameterization Target generator mode Parameter P109 can be used to parameterize target generator mode: Selection Value Effect SAM travel in landside direction only SAM travel in landside and waterside direction A lane must be specified on the landside Lanes or positions from the target generator are possible on the landside 6.13.3 Control...
Page 197 Sway Control function description 6.13 Target generator Targets on the landside On the landside, either a user-defined position, a lane, a parking position or the lashing platform can be approached as a target. Note It is always assumed that parked containers on the landside are removed for the next operation. Stacking on the landside is therefore not possible.
Page 198 Sway Control function description 6.13 Target generator Travel to lane The saved lane positions can be selected as a target for the landside with the "LANE_SHIP_LOAD" and "LANE_SHIP_UNLOAD" inputs. Depending on the locking state (LOCKED_BIT0, LOCKED_BIT1) and the resulting loading or unloading operation, the lane position is transferred from LANE_SHIP_LOAD when loading the ship and from LANE_SHIP_UNLOAD when unloading.
Page 199: End Of A Loading Or Unloading Operation
Sway Control function description 6.13 Target generator Figure 6-25 Loading or unloading a ship Specify the starting or first target position for the waterside In order to transfer the starting or first target position for the waterside to the target generator, this position must be approached.
Page 200: Diagnostics
Sway Control function description 6.13 Target generator 6.13.4 Diagnostics The supplied program SIMOCRANE CeCOMM can be used to display the status of the target generator. To be able to access the status display, you will have to set the access code (P100) in parameter set 1 to the value 3.
Page 201: Automatic Target Specification
Sway Control function description 6.13 Target generator 6.13.5 Automatic target specification Automatic target specification and the next target to be specified can be monitored using the target position list. The target position list is an internal memory where targets are managed. This list is filled with calculated target position values during initialization based on the starting position of the waterside (P26) and the spreader width (P106) (see also Figure 2).
Page 202 Sway Control function description 6.13 Target generator Update target list The calculated values in the target position list can be updated with the most recent position at which a container has been placed or picked up. Whether or not the targets are to be updated during operation can be defined using the bits OFFSET_TO_LAND and OFFSET_TO_WATER.
Page 203: Offset For The Target Position
Sway Control function description 6.13 Target generator Offset Stacking type s(n) + P106 + offset s(n) - P106 + offset s(n) + offset s(n) + P106 - offset s(n) - P106 - offset s(n) - offset Target positions for the hoist During loading and unloading, the hoist target position is partially located above the last approached height on the waterside: a = 1.75 on unlocking (loading) or a = -0.25 on locking (unloading)
Page 204: Bay Scanner
Sway Control function description 6.14 Bay scanner The specified offset value is displayed on CeComm "PLC-Interface 2 [5]" in the SIMOCRANE CeCOMM diagnostic program. 6.14 Bay scanner 6.14.1 Using a bay scanner The information contained in this chapter relating to use of a bay scanner refers exclusively to STS crane applications.
Page 205 Sway Control function description 6.14 Bay scanner Possible control in applications with a bay scanner The following figure is a suggestion for control when using a bay scanner. If a bay scanner is present, the BAYSCANNER_VALID bit is set. Whether or not the bay scanner is error-free is acquired in the value COUNT_BAYSCANNER. Error-free operation with bay scanner The VALUE_BAYSCANNER values are used by the bay scanner to determine the height profile.
Page 206 Sway Control function description 6.14 Bay scanner Bay scanner operation with errors Error message E59 is output. To determine the height profile, the internally learned variable blocked regions are used. Error-free operation without bay scanner To determine the height profile, the internally learned variable blocked regions are used. Figure 6-28 Bay scanner operation BAYSCANNER_VALID bit...
Page 207 Sway Control function description 6.14 Bay scanner Formation of obstacles The table below illustrates the formation of obstacles (H_NEU) depending on the relevant values. The relevant values are: ● BAYSCANNER_VALID ● COUNT_BAYSCANNER ● VALUE_BAYSCANNER (L_ACT) (current bay scanner value) ● S_ACT (current hoist position) ●...
Page 208 The time difference between the moment of transmission by the bay scanner and the moment of receiving in the SIMOTION D4x5-2 DP/PN causes inaccuracy of the measured 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).
Page 209: Conversion Of The Bay Scanner Values
Sway Control function description 6.14 Bay scanner Function of parameter P37 - Bay scanner position offset Current position of the trolley (relative to the center of the spreader). Position of the bay scanner Landside Waterside Figure 6-29 Meaning of parameter P37 Explanation: Parameter P37 is the difference between the two values: P37=B-A ●...
Page 210 Sway Control function description 6.14 Bay scanner The distance (hm) from the bay scanner to the surface of the container stack is measured (dashed lines; measured laser value hm). The crane control system must convert this value into a laser value (hVB; vB bay scanner value) that represents the distance between the hoisting height ZERO (h0) to the upper edge of the container stack at this position (bay scanner value, see following figure).
Page 211 Sway Control function description 6.14 Bay scanner The conversion can be performed as follows in the PLC software for the evaluation of bay scanner data: 1. Lower the spreader to the quay, and record the actual position of the hoist (Actualposition hoist ) and the bay scanner value (Measured laser value Quay...
Page 212 Sway Control function description 6.14 Bay scanner 3. The converted laser value (bay scanner value hVB) is then calculated using the scanner height h in the following equation and transferred with the "ValueBayscan" signal to the sway control system: = hs - h Figure 6-32 Explanation of point 3 = 46000 mm - 31000 mm...
Page 213: Calculation Of 2D Trajectory In Semi-Automatic Mode (Sam)
Sway Control function description 6.15 Calculation of 2D trajectory in semi-automatic mode (SAM) Figure 6-34 Checking the adjustment (spreader on the quay) 6.15 Calculation of 2D trajectory in semi-automatic mode (SAM) Blocked regions are observed in semi-automatic mode (SAM) and, if activated, in manual mode (MAN).
Page 214 Sway Control function description 6.15 Calculation of 2D trajectory in semi-automatic mode (SAM) Trajectory The trajectory is the calculated optimum travel curve. It is based on the interpolation points. 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).
Page 215 Sway Control function description 6.15 Calculation of 2D trajectory in semi-automatic mode (SAM) Starting position Blocked regions Target position Trajectory actually travelled Connecting line between starting position - interpolation points - target position ①②③④ Interpolation points Figure 6-36 A trajectory and interpolation points as represented by SIMOCRANE CeCOMM The following data must be known before travel in SAM mode can commence: ●...
Page 216 Sway Control function description 6.15 Calculation of 2D trajectory in semi-automatic mode (SAM) Functionality of START_2D_CALC in version V3.0 and higher The START_2D_CALC bit calculates the trajectory before and during SAM travel as follows: ● START_2D_CALC = 0 – When SAM starts up initially: The trajectory is not calculated and the trolley is not moved. Only the hoist starts the hoisting operation.
Page 217: Sway Control Only When Stopping
Sway Control function description 6.17 Suppressing the opposite direction 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.
Page 218: Approaching The Waiting Position
Sway Control function description 6.19 Starting SAM mode after a manual hoist operation Before time A (see at approx. 14 s in the figure), the output velocity (blue) is less than 50% (green). "rV_POS_TR" (blue), like "rV_SET_TR" (red), can only be negative during this period. A waiting time (B) therefore results until sway is eliminated.
Page 219: Slack Rope
Sway Control function description 6.21 Override If the master switch is operated during travel in SAM mode, this mode must be terminated immediately. Travel then continues in manual mode. The crane driver thus has the option of terminating travel in SAM mode at any time and continuing operation in manual mode. Note In order to permit on-the-fly switchover from MAN mode to SAM mode, it is therefore advisable to program a certain time period (e.g.
Page 220 Sway Control function description 6.21 Override Step changes are permitted for the external override. The effect is delayed, as acceleration limits are maintained internally. Deviations from the trajectory calculated at the time of starting are possible during travel in semi-automatic mode (SAM). Frequent and stepped changes of the override are the cause of these deviations.
Page 221: Influencing The Lowering Point In Sam Travel From Ws To Ls
Sway Control function description 6.23 Hoist takeover 6.22 Influencing the lowering point in SAM travel from WS to LS The lowering point can be influenced using P119 during travel in SAM from the waterside to the landside. When P119 = 0, the lowering point is located at the start of the waterside (P26) + 2* spreader width (P106).
Page 222 Sway Control function description 6.23 Hoist takeover WARNING Danger to life due to failure to observe blocked regions Blocked regions are only observed in semi-automatic mode (SAM) and, if activated, in manual mode (MAN). In all other modes, i.e. also in POS mode, inattention of the crane driver can result in collisions. These collisions may result in injury or death.
Page 223 Sway Control function description 6.23 Hoist takeover Figure 6-40 Logic for hoist takeover Figure 6-41 Hoist takeover status diagram Scenario A: Section 1: SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 224: Minimum Hoisting Height
Sway Control function description 6.24 Minimum hoisting height The hoist and trolley are in SAM mode. The hoist is not yet at a safe height. Section 2: The crane driver operates the master switch, thus requesting hoist takeover. Because the danger of a collision still exists, this action must cause termination of the trolley motion.
Page 225 Sway Control function description 6.24 Minimum hoisting height Figure 6-42 Minimum hoisting height 1 Before placement, it could be necessary to make minor position corrections at the trolley. Parameter P73 (positioning range below minimum hoisting height LS and WS) serves to avoid unnecessary lifting above P66 or P67 in this case.
Page 226: Velocity For Automatic Lowering
Sway Control function description 6.25 Velocity for automatic lowering Figure 6-43 Minimum hoisting height 2 6.25 Velocity for automatic lowering It is possible to reduce the velocity automatically shortly before the target when placing the load in semi-automatic mode (SAM). This prevents the container from being placed at an excessively high velocity.
Page 227: Adjusting The Trajectory During Inclined Travel In Sam
Sway Control function description 6.26 Adjusting the trajectory during inclined travel in SAM container is still placed at a reduced velocity. Travel must be terminated immediately after landing in order to avoid excessive slack rope. Note If the target of the trolley is suddenly changed to the opposite direction when leaving or reaching limit line P66, P67 or P70, inclined travel can occur briefly immediately below the limit line.
Page 228: Special Aspects Of Gsu Applications
Sway Control function description 6.27 Special aspects of GSU applications Figure 6-44 Travel curve with and without adjustment This effect is not critical for lifting, as the travel curve lies above the interpolation point straight line. No adjustment is performed during lifting for this reason. 6.27 Special aspects of GSU applications 6.27.1...
Page 229: On-The-Fly Unloading
Sway Control function description 6.27 Special aspects of GSU applications Topic Control bit FLYING Disabled internally and without any Required for on-the-fly unloading function Status double word Bit 8 = "Hoist below immersion point" Bit 8 = Not relevant INFO_NO_AUTO_START Bit 10 = Not relevant Bit 10 = "Target too deep"...
Page 230 Sway Control function description 6.27 Special aspects of GSU applications Note In time-optimized operation, the crane driver's cabin must not be linked to the trolley because of the large acceleration change. The following figure below shows an example of such a travel operation. Figure 6-45 Travel operation over time (in seconds) for on-the-fly unloading The trolley initially decelerates from the 60 m position with time-optimized control to -1.7 m/s...
Page 231 Sway Control function description 6.27 Special aspects of GSU applications Figure 6-46 Unloading operation for on-the-fly unloading Section 1: Travel is started with time-optimized control. The control bit "FLYING" must be set. Section 2: In the acceleration phase, the moment of inertia means the load trails behind the trolley speeding away.
Page 232: Activating On-The-Fly Unloading
Sway Control function description 6.27 Special aspects of GSU applications Section 4: Once the velocity of the trolley is less than the "on-the-fly unloading abort velocity" (P30), the status bit "OPEN_GRAB" will be reset. A new target (ship) must be specified. This is to be done using status bit "CHANGE_TARGET".
Page 233: Influence Of Parameters P75/P76 And P158 On The Trajectory
Sway Control function description 6.27 Special aspects of GSU applications 6.27.2.3 Influence of parameters P75/P76 and P158 on the trajectory You can use parameters P75/76 and P158 to influence the trajectory. ● P75/76 These parameters influence the horizontal trajectory over the hopper and also determine the remaining trajectory to the ship.
Page 234 Sway Control function description 6.27 Special aspects of GSU applications Figure 6-47 Influencing the trajectory to the hopper and back using parameters P75/P76 Note You can also use parameter P158 to influence the trajectory. Avoid making simultaneous changes to the settings of parameters P75/P76 and P158. "Upward trajectory to hopper"...
Page 235: Procedure For Changing Targets Over The Hopper
Sway Control function description 6.27 Special aspects of GSU applications Values > 1: Interpolation point shifted downwards. The trolley starts moving earlier, resulting in a steeper upward trajectory. Figure 6-48 Influencing travel to the hopper using parameter P158 Note You can also use parameters P75/P76 to influence the trajectory. Avoid making simultaneous changes to the settings of parameters P75/P76 and P158.
Page 236 Sway Control function description 6.27 Special aspects of GSU applications Please therefore note the following: Figure 6-49 Changing targets If the "Target Ship" is the next target to be specified after the "Target Hopper" is reached and the hoist target is changed first due to time delays, a temporary "Target Temp 1" will be generated.
Page 237: Tls Control Function Description
TLS control function description Hydraulic cylinders can be used to control the length of each individual suspension cable with STS cranes, thereby making trim, list and skew motions possible. An electric drive can also be used for skew damping. The diagram below illustrates the directions of TLS movement of the spreader. ●...
Page 238: Requirements
TLS control function description 7.1 Requirements Requirements 7.1.1 Mechanical requirements for TLS with a hydraulic system A defined configuration of mechanical requirements on the crane for implementation of the TLS function: ● Cylinders (equipped with proportional valves for continuous velocity control) ●...
Page 239: Mechanical Requirements For Tls With A Hydraulic System And Electric Drive
TLS control function description 7.1 Requirements 7.1.2 Mechanical requirements for TLS with a hydraulic system and electric drive Mechanical requirement on the crane for implementation of the TLS function: ● Defined configuration of – Cylinders (equipped with proportional valves for continuous velocity control) –...
Page 240 TLS control function description 7.1 Requirements (1) (2) (3) (4) For an explanation, see Table "Directions of movement" For an explanation, see Table "Directions of movement for skew" Figure 7-4 Directions of movement The tables below explain the effects of the directions of movement of the cylinder and the skew drive on the suspension points.
Page 241: Tls Modes And Tls Functions
TLS control function description 7.2 TLS modes and TLS functions Table 7-2 Directions of movement for skew Skew CCW (left) Skew CW (right) Spreader Cylinder Spreader Cylinder A & C A & C Down B & D Down B & D TLS modes and TLS functions P240 must be "1"...
Page 242 TLS control function description 7.2 TLS modes and TLS functions Start of a cylinder movement Figure 7-5 Signal sequence for starting a cylinder movement in "cylinder jogging" mode Section 1: Select "cylinder jogging" mode by setting the "mode_comm" control bit (STW1_PLC_TLS, bit 6). Section 2: ●...
Page 243: Go To Zero Positions" Mode
TLS control function description 7.2 TLS modes and TLS functions End of a cylinder movement Figure 7-6 Signal sequence for ending a cylinder movement in "cylinder jogging" mode Section 1 Cylinder A is extended according to its output velocity. Section 2 ●...
Page 244 TLS control function description 7.2 TLS modes and TLS functions Saving zero positions When the "save_zero" control bit (STW1_PLC_TLS, bit 0) is set, the current position of each cylinder is saved as its zero position. These positions remain saved even when the SIMOTION system is switched off.
Page 245 TLS control function description 7.2 TLS modes and TLS functions Figure 7-7 Signal sequence 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"...
Page 246 TLS control function description 7.2 TLS modes and TLS functions Section 3: ● Depending on how the cylinders are controlled as a function of their actual position, the status bits ZSW1_TLS_PLC bits 8 ... 15 change to "true". In this example: –...
Page 247: Tls Jogging" Mode
TLS control function description 7.2 TLS modes and TLS functions Section 1: Cylinders A, B and C move to their zero position. Cylinder D does not move because it is already in the zero position. Section 2: The zero position is reached. The output velocities of cylinders A, B and C specified by "BSPEED_A_NORM", "BSPEED_B_NORM"...
Page 248 TLS control function description 7.2 TLS modes and TLS functions Start "TLS jogging" mode In the example described below, "trim_right" is selected as one of the options for "TLS jogging" mode. The cylinder movements are then as follows: ● Cylinders: –...
Page 249 TLS control function description 7.2 TLS modes and TLS functions Section 3: ● Depending on the control selected in STW1_PLC_TLS, control bits 8 ... 13, the status bits 8 ... 15 change to "true". In this example: – "c_in" (ZSW1_PLC_TLS, bit 14) –...
Page 250: Tls Positioning" Mode
TLS control function description 7.2 TLS modes and TLS functions Section 2: ● Deselect "TLS jogging" mode. In this example: Reset the "trim_right" control bit (STW1_PLC_TLS, bit 8). ● Depending on the control selected in STW1_PLC_TLS, the status bits 8 ... 15 change to "false".
Page 251 TLS control function description 7.2 TLS modes and TLS functions Application example: The crane is in the target position (e.g. on the waterside) and must pick up/set down the container. To align the container and spreader, movements with "TLS jogging" are required. When the crane is again in the waterside target position in the next loading/unloading cycle, it should already automatically be aligned as it was in the last cycle.
Page 252: V1: Move To Internally Stored Trim, List And Skew Positions
TLS control function description 7.2 TLS modes and TLS functions 7.2.4.2 V1: Move to internally stored trim, list and skew positions When "TLS positioning" mode is selected, the landside or waterside positions are approached depending on the position of the trolley. Figure 7-11 Signal sequence for moving to internally stored position in "TLS positioning"...
Page 253 TLS control function description 7.2 TLS modes and TLS functions Section 3: ● Depending on how the cylinders are controlled as a function of their actual position, the status bits ZSW1_TLS_PLC bits 8 ... 15 change to "true". In this example: –...
Page 254: V2: Move To Externally Defined Skew Position And Internally Stored Trim And List Positions
TLS control function description 7.2 TLS modes and TLS functions 7.2.4.3 V2: Move to externally defined skew position and internally stored trim and list positions The cylinders stop moving automatically when the target position is reached. Figure 7-12 Signal sequence for moving to external positions in "TLS positioning" mode Section 1: Select the "TLS positioning"...
Page 255: Skew Damping For Damping Skew Oscillation" Function
TLS control function description 7.2 TLS modes and TLS functions Section 4: ● Depending on how the cylinders are controlled as a function of their actual position, the status bits ZSW1_TLS_PLC bits 8 ... 15 change to "true". In this example: –...
Page 256 TLS control function description 7.2 TLS modes and TLS functions electric drive) (Page 362) and Commissioning TLS (skew damping with electric drive only) (Page 367)). The "skew damping via electric drive" function is activated via the "as_on" control bit (STW1_PLC_TLS, bit 15) and is operative in all TLS modes except for "Cylinder jogging". Note Rotation of the spreader during skew damping For both TLS functions "skew damping via cylinders"...
Page 257 TLS control function description 7.2 TLS modes and TLS functions Section 2: ● Activate the move command by setting the "move_SkA" control bit (STW2_PLC_TLS, bit 11). ● Start movement of the electric drive by setting: – Control bit "ska_out_comm" (STW2_PLC_TLS, bit 10) - OR - –...
Page 258: Skew Damping Via Cylinders" Function
TLS control function description 7.2 TLS modes and TLS functions Section 3: ● The "motion_terminated_SkA" status bit (ZSW1_TLS_PLC, bit 1) changes to "true" when movement of the electric drive ends. ● Deactivate the move command by resetting the "move_SkA" control bit (STW1_PLC_TLS, bit 11).
Page 259: Control Of A Cylinder Movement
TLS control function description 7.4 Controlling movement of the electric drive Control of a cylinder movement This chapter is relevant for the constellations TLS_A and TLS_B. Start of a movement / activation of position control If the cylinders are ready to travel, the position controller is activated by setting the control bit "move".
Page 260: Control Of The Modes And The Skew Damping For The Hydraulic System
TLS control function description 7.5 Control of the modes and the skew damping for the hydraulic system End of a movement At the end of the movement, the "motion_terminated_sKa" status bit is set. It can be used to reset the "move_sKa" control bit, which deactivates the position controller. Note In the transition phase, the "motion_terminated_sKa"...
Page 261: Controlling Travel And Skew Damping With Electric Drive
TLS control function description 7.6 Controlling travel and skew damping with electric drive Otherwise, the error E77 occurs, which ignores the control bit "move". That is in line with the information in Chapter TLS modes and TLS functions (Page 241). This states that such a change must be performed when the cylinder is not moving.
Page 262 TLS control function description 7.6 Controlling travel and skew damping with electric drive SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 263: Simocrane Cecomm Commissioning And Diagnostic Program
SIMOCRANE CeCOMM commissioning and diagnostic program You can use the SIMOCRANE CeCOMM program for the following commissioning and diagnostic tasks: ● Editing of parameter sets and performing commissioning (see Chapter Overview (Page 283)) ● Monitor functions for monitoring important data ●...
Page 264: Design And Operation
SIMOCRANE CeCOMM commissioning and diagnostic program 8.2 Design and operation Design and operation The user interface of the diagnostic program is divided into five different areas (see the screenshot below): ● Menu bar (see Chapter Menu bar (Page 267)) ● Toolbar for establishing a connection ●...
Page 265 SIMOCRANE CeCOMM commissioning and diagnostic program 8.2 Design and operation Note Most of the available functions can be operated by clicking a button (e.g. "F2-History") and also pressing the key (e.g. "F2") shown on the button. The following description only describes the button.
Page 266: Establishing A Connection To The Device
SIMOCRANE CeCOMM commissioning and diagnostic program 8.3 Establishing a connection to the device Establishing a connection to the device To use the full function scope, establish a connection to the target device. The following steps are required: 1. Set the IP address of the PC network interface over which the target device is to be accessed in the Windows settings.
Page 267: Menu Bar
SIMOCRANE CeCOMM commissioning and diagnostic program 8.4 Menu bar Menu bar The individual menu bar items are explained in detail in the next section. File Open You can open the following files with this function: ● Logger file (*.bin) ● CeCOMM config file ●...
Page 268 SIMOCRANE CeCOMM commissioning and diagnostic program 8.4 Menu bar Figure 8-3 Interface function, "IP-Address" tab The SIMOTION user name and password can be set on the "User/PW Simotion" tab in order access the contents of the memory card via the file manager. Figure 8-4 Interface function, "User/PW Simotion"...
Page 269 SIMOCRANE CeCOMM commissioning and diagnostic program 8.4 Menu bar Autoconfiguration When this menu item is activated, the correct trace configuration file is loaded automatically according to the transferred version number when a connection is established. If the menu item is deactivated, you must load the relevant *.ini file yourself. It is advisable to leave this menu item permanently activated.
Page 270 SIMOCRANE CeCOMM commissioning and diagnostic program 8.4 Menu bar Figure 8-7 Calculation of speed parameters Pendulum length This function can be used to calculate the frequency or the oscillation period from a known pendulum length. It is also possible to determine the frequency and the pendulum length from a specific oscillation count over time.
Page 271: Monitor (Tab)
SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Figure 8-9 Deflection calculation Windows calculator A Windows calculator is available with this function. Figure 8-10 Windows calculator Help INFO The version number of the program is displayed under Info. Load online help The commissioning help will be uploaded from the associated connected device or system and displayed in HTML format.
Page 272 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) When a connection to the SIMOTION system has already been established, the following functions are available to the user via the main menu (see the screenshots below, Figures 8-11, Editing AddOn parameters (Page 283), Sway Control monitors (Page 275)) 1: Kinematics 2: PLC interface 1 3: Status of the drives...
Page 273 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Figure 8-11 Monitor - Main menu (keyboard command: M or Esc → M) History function The "F2-History" button can be used to display all previous steps, which can be useful for tracing performed diagnostic steps, copying, or in order to get an improved view of scrolling windows (e.g.
Page 274 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Figure 8-12 Marked text section from the parameter list The "F3-Return to Monitor" button exits the history area. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 275: Sway Control Monitors
SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) 8.5.1 Sway Control monitors This chapter describes important status displays of the Sway Control section in more detail. Figure 8-13 CeCOMM monitor 1 Status display number 1 lists the most important kinematic data. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 276 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Figure 8-14 CeCOMM monitor 3 Status display number 3 lists the most important control signals for the trolley and hoist. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 277: Tls Monitors
SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Figure 8-15 CeCOMM monitor 4 Status display number 4 helps to track the system status in SAM mode. 8.5.2 TLS monitors Naming system for TLS Signals with the ending "_ABCD“ and with the ending "_TLSh“ are named as follows: ●...
Page 278 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) The inverse relationship is therefore: s_act_A = s_act_T + s_act_L – s_act_S + s_act_h s_act_B = s_act_T – s_act_L + s_act_S + s_act_h s_act_C = –s_act_T – s_act_L – s_act_S + s_act_h s_act_D = –s_act_T + s_act_L + s_act_S + s_act_h This conversion also applies to velocity signals.
Page 279 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Term Term Description Unit German English v_stell_norm_ABCD v_out_norm_ABCD Normalized output velocity (v_out_norm_ABCD = P262 · v_out_ABCD / P261) Outputs of DCC_SCTLS2: bspeed_a_norm bspeed_b_norm bspeed_c_norm bspeed_d_norm s_soll_b_ABCD s_set_l_ABCD Set position of cylinders after position lim‐ itation v_soll_b_ABCD v_set_l_ABCD...
Page 280 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Figure 8-16 Monitor 7 The marked areas have the following signals: v_set_b_ABCD, v_set_b_TLSh (mm/s) v_out_ABCD (mm/s) v_out_norm_ABCD s_set_b_abcd, s_set_b_TLSh s_act_abcd, s_act_TLSh pos_cal_A, pos_cal_B, pos_cal_C, pos_cal_D Input DCC block DCC_SCTLS2: rpos_a, rpos_b, rpos_c, rpos_d Zero positions P250 to P253 Note: The parameters for the skew axis in the lower monitor section are only visible if the electric drive is activated with P320=1.
Page 281 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Figure 8-17 Monitor 8 The marked areas have the following signals: ① psi_cam (psi_kam) psip_cam (psip_kam) psi_model (psi_modell) psip_model (psip_modell) psi_ofs_model (psi_ofs_modell) ② Frequency skew oscillation (normalized angular frequency skew oscillation) ③...
Page 282 SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Figure 8-18 Monitor 9 SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 283: Editing Addon Parameters
SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) 8.5.3 Editing AddOn parameters 8.5.3.1 Overview Parameters are assigned to the AddOn technology package using the SIMOCRANE CeCOMM diagnostic program as shown in the following overview: ... or where an error is detected for the relevant parameter set This parameter set is operative Figure 8-19 Editing parameter sets in the SIMOCRANE CeCOMM diagnostic program...
Page 284: Call And Navigation In The Parameter Menus
In addition to allowing processing of current parameter sets, the file manager in the SIMOCRANE CeCOMM diagnostic program also enables users to access and edit the four saved text files (parameter files). These text files are located on the CF card of the SIMOTION D4x5-2 DP/PN in the SWAYCONTROL directory. 8.5.3.2 Call and navigation in the parameter menus Parameters are entered and processed via the main menu or via another display screen.
Page 285: Editing A Parameter Set
SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) 8.5.3.4 Editing a parameter set "N" Edit another parameter set Irrespective of the active parameter set, all current parameter sets can be edited with the "N" key. The required number must be entered and confirmed with the "Enter" key. The selected parameter set is displayed in the SIMOCRANE CeCOMM diagnostic program and can then either be edited by pressing "C - Change parameter"...
Page 286: Copying A Parameter Set
SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) Note Changes to a TLS parameter (P240 to P336), as described in this section, only refer to the currently selected parameter set and not to all four parameter sets. This behavior must be considered, in particular, when parameter set switchover is used.
Page 287: Setting Default Values
SIMOCRANE CeCOMM commissioning and diagnostic program 8.5 Monitor (tab) 8.5.3.10 Setting default values "D" Set default values The parameter settings of all current parameter sets are restored to their defaults with the "D" key. 8.5.3.11 More functions "L" Show list of parameters All parameters are listed.
Page 288: File Manager
SIMOCRANE CeCOMM commissioning and diagnostic program 8.6 File manager "F" Search parameters A search term can be entered. All parameters that contain this search term will be listed. Figure 8-20 Monitor - Parameters menu The digits "1" to "17" can be used to display the parameters as groups. Keys "1" to "17" can be used to switch between the parameter display screens.
Page 289: Diagram - Trace Function
SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Figure 8-21 Explorer function Prerequisite for the correct operation is the correct assignment of the IP address to the connected device in the "Options/Interface" CeCOMM menu function. Diagram - trace function The "Diagram"...
Page 290: Procedure For Recording Diagrams
SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function 8.7.1 Procedure for recording diagrams The "View diagram" window is opened using the "F2-Start" button (see screenshot below). The axes and parameters to be recorded can be selected in this window. Figure 8-22 Diagram function, F2-Start, Axes tab The following settings can be defined on the "Axes"...
Page 291 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function TRAVEL control bit is set for the trolley or hoist. When "F2-Start" is used, recording is performed immediately and permanently. The "View diagram" window closes automatically when the "F2- Start"...
Page 292 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Figure 8-25 Diagram function, F2-Start, Input bits tab Figure 8-26 Diagram function, F2-Start, Output bits tab ● Bit signals from/to PLC Selection of the bits from and to the PLC displayed in the diagram (lower area). ●...
Page 293: Elements And Functionality Of The Diagram User Interface
SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function 8.7.2 Elements and functionality of the diagram user interface The user interface displays the signal flows with a legend on the right-hand side. Individual values or all values can be selected in this legend. If you move the mouse pointer over the curves, the current x and y values will be displayed dynamically in the corners, as shown in the following figure.
Page 294 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Short name Meaning Unit S_REF delayed Position after the set delays [TR] V_REF delayed Output velocity after the set delays mm/s [TR] Table 8-3 Analog signals, hoist Short name Meaning Unit V_SET [HO]...
Page 295 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Short info "Short info" displays the value at a particular time on a curve. The name of the curve and the time are also displayed. ● To open the short info, click the left mouse button on the required curve while holding down the Ctrl key.
Page 296 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Only the x value, i.e. the time (in the example, 15.02 seconds), of the measuring cursor is displayed on the left-hand side below the diagram. Fix the measuring cursor by pressing the space bar. The first measuring cursor is now fixed and a second measuring cursor appears.
Page 297 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Figure 8-30 Info series You can deactivate the measuring cursor function as follows: ● Use the dropdown list of the "Options" button on the toolbar. ● Move the mouse pointer back to the left edge of the screen while holding down the left mouse button.
Page 298 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Figure 8-31 Time stamp Limit lines In addition to the blocked regions, selected limit lines can be displayed in the diagram using the dropdown list of the "Refresh" button on the toolbar. Only active limits are displayed in the diagram and in the legend on the right-hand side.
Page 299 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Figure 8-33 Display options for blocked regions Longtime tracing This function can be used to record over several hours or several days, e.g. for diagnostic purposes. Figure 8-34 Longtime trace active The laptop screen can be closed.
Page 300 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function These files can now be loaded and evaluated. To do this, select "File" → "Reload longtime traces". Figure 8-35 Loading the longtime trace You can select a file (*.dat format) from the "LongTraces" directory in the next dialog box. Button Button Short name...
Page 301 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Button Short name Description MAN-Obstacles Switch between the blocked regions for SAM and MAN mode. Help Function description of the keys for scrolling and zooming in the diagram display. Note The buttons for operating the x/y diagram are explained in Chapter x/y diagram (Page 304).
Page 302 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function View – F7 Pressing the "F7-View" button opens the "Display measurement series" window (next screenshot). The "General" and "Bit signals" tabs are used to select the displayed parameters and to change the following properties: ●...
Page 303 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Properties - F8 The "F8-Properties" button can be used to set and change the names of all parameters and axes. You can specify the limits and the colors for the background and for individual elements of the diagram.
Page 304: X/Y Diagram
SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Help - F1 Pressing the "F1-Help" button opens another window that contains all keyboard commands for scrolling and zooming in the diagram display. Figure 8-39 Diagram function, Help 8.7.3 x/y diagram One of the two buttons can be used to change to the x/y diagram.
Page 305 SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Figure 8-40 Diagram function, X/Y representation with blocked regions The calculated and the actually traveled curve are displayed. The following buttons can be used to display additional information. Table 8-4 Buttons, x/y display Button Short name...
Page 306: Tls Trace
SIMOCRANE CeCOMM commissioning and diagnostic program 8.7 Diagram - trace function Note When the spreader is locked to a container, all blocked regions are increased by the value in parameter P108 (maximum container height in mm). If a container is removed, i.e. when both control bits LOCKED_BIT0 and LOCKED_BIT1 are reset, the blocked region reduces again by P108.
Page 307: Effective Pendulum Length
SIMOCRANE CeCOMM commissioning and diagnostic program 8.8 Effective pendulum length Figure 8-41 TLS output bits trace Variable recording In addition to the fixed signals, 4 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.
Page 308 SIMOCRANE CeCOMM commissioning and diagnostic program 8.8 Effective pendulum length In two different hoisting heights, the associated effective pendulum lengths are measured, from the known relationship between pendulum length and period duration. Assuming a linear relationship, these two value pairs can be used to establish the relationship between the hoisting height and the effective pendulum length.
Page 309: Logger
8.9.2 Data retention and storage The data are stored on the SIMOTION D4x5-2 DP/PN in a circular buffer with a capacity of up to 10 000 events. When the maximum capacity is reached, storage starts from the beginning and the oldest entries are overwritten.
Page 310 SIMOCRANE CeCOMM commissioning and diagnostic program 8.9 Logger A total of 12 logger files can therefore be stored. Text files can be viewed using Notepad for example (Microsoft text editor for the Windows operating system) or similar text editors. The binary file can only be opened using CeCOMM.
Page 311: Method Of Operation
SIMOCRANE CeCOMM commissioning and diagnostic program 8.9 Logger Figure 8-44 Online view of a logger file This is how logger files are generally displayed ONLINE. If a "Logger.bin" file is saved via CeCOMM and if this is still stored on the memory card, can be used to load it into CeCOMM.
Page 312 ● Intermediate targets S_Max during movement along the trajectory ● Factor for reduction of sway control ● Immersion point ● Number of the selected lane ● Switchover in the SIMOTION D4x5-2 DP/PN: STOP → RUN SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 313: Special Situations
To make it easier to interpret the bits shown, additional help screens have been implemented (CeComm "PLC" interface [1] -> "?" key). ● The logger detects when the SIMOTION D4x5-2 DP/PN switches from "Stop" to "RUN". A line with the content "STOP → RUN" is entered in the logger.
Page 314 SIMOCRANE CeCOMM commissioning and diagnostic program 8.9 Logger Figure 8-45 Display of the logger content in SIMOCRANE CeCOMM key Go to start (Home key) key Go to last page (End key) <↑> Page up <↓> Page down < ← > Go to start (see Home key) <...
Page 315 SIMOCRANE CeCOMM commissioning and diagnostic program 8.9 Logger Figure 8-46 Description of the control bits SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 316 SIMOCRANE CeCOMM commissioning and diagnostic program 8.9 Logger Figure 8-47 Description of the status bits SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 317: Display Of Blocked Regions
SIMOCRANE CeCOMM commissioning and diagnostic program 8.9 Logger Figure 8-48 Description of the error bits 8.9.6 Display of blocked regions The different blocked regions are displayed as follows in the logger listing: ● FIX: Fixed blocked regions ● PLC: Externally learned variable blocked regions ●...
Page 318 SIMOCRANE CeCOMM commissioning and diagnostic program 8.9 Logger Figure 8-49 Display of the blocked regions in the logger The additional monitor function "G - Display variable blocked regions" only displays the variable blocked regions (see Chapter Monitor (tab) (Page 271)). The designations PLC and PROFILE are also used.
Page 319: Commissioning Addon Software
● If a bay scanner is used, it must be put into operation (see Chapter Using a bay scanner (Page 204)). ● Setting of user name and password for the SIMOTION D4x5-2 DP/PN (see Chapter Setting up FTP file access (Page 325))
Page 320: Commissioning Requirements For Addon Software
Commissioning AddOn Software 9.3 Commissioning requirements for AddOn software Figure 9-1 Communication via Ethernet SIMOTION D Whereas dashed connections (2) are only present during the diagnosis or commissioning, solid connections are always present. The Ethernet connection between the SIMOTION D variant and the SIMOCRANE CeCOMM diagnostic program (3) requires a JAVA application.
Page 321 Commissioning AddOn Software 9.3 Commissioning requirements for AddOn software If tests are conducted under load, the load measuring equipment must also function perfectly. CAUTION Danger of injury and possible material damage caused by unexpected crane movements Unexpected jerk movements may occur during operation with sway control. There is the danger of injury to unprotected persons.
Page 322: Preparing The Plc Program
Commissioning AddOn Software 9.3 Commissioning requirements for AddOn software 9.3.2 Preparing the PLC program The PLC program must be prepared so that all signals are provided for the sway control system and all output data is processed further (see Communication interface to SIMATIC S7 (Page 83)).
Page 323: Setting The Access Code
Commissioning AddOn Software 9.3 Commissioning requirements for AddOn software Limiting the output velocity Note Limitations of the output velocity (e.g. in the converter) can result in a following error and therefore should only be implemented for safety reasons. 9.3.4 Setting the access code The access code determines which parameters are displayed with keys "1"...
Page 324: Checking Of The Communication Between Plc And Simotion
Commissioning AddOn Software 9.3 Commissioning requirements for AddOn software 9.3.6 Checking of the communication between PLC and SIMOTION The SIMOCRANE CeCOMM diagnostic program has various display screens in which communication functions can be checked. The "PLC-Interface" display screen is called up from the main menu or from another display screen using the "2"...
Page 325: Setting Up Ftp File Access
Commissioning AddOn Software 9.3 Commissioning requirements for AddOn software Figure 9-3 Monitor function, "Status of drives" [3] display screen Representation of the bit states of the prelimit/limit switches on the display screen "Status of the drives [3]" Table 9-1 Explanation of display screen [3] 1+/1+ Prelimit switch forward and limit switch forward responded Prelimit switch forward responded...
Page 326 9.3 Commissioning requirements for AddOn software Setting user name and password in SIMOTION D4x5-2 DP/PN 1. Start up the SIMOTION D4x5-2 DP/PN system once with the CF card inserted on delivery. The SIMOTION saves additional directories and files on the CF card.
Page 327 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 SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 328: Sway Control Commissioning
Commissioning AddOn Software 9.4 Sway control commissioning Sway control commissioning 9.4.1 Method of operation of sway control Once all the requirements (see Commissioning requirements for AddOn software (Page 320)) have been met, you can start with the commissioning. Parameterization during commissioning is performed using the SIMOCRANE CeCOMM diagnostic program.
Page 329 Commissioning AddOn Software 9.4 Sway control commissioning Figure 9-8 Trolley behavior with dynamic prelimit switches at full velocity Figure 9-9 Trolley behavior with dynamic prelimit switches at half velocity The figures show clearly the different deceleration points depending on the velocity. For fixed prelimit switches, this point is always at the same trolley position (P115 = 0).
Page 330 Commissioning AddOn Software 9.4 Sway control commissioning The positions for the prelimit switch velocity (P24, P27) must be set so they lie before the limit switch position or exactly at the limit switch position. This ensures that the trolley drive was decelerated to the prelimit switch velocity when the limit switch is reached.
Page 331: Commissioning The Sway Control System
Commissioning AddOn Software 9.4 Sway control commissioning 9.4.2 Commissioning the sway control system 9.4.2.1 Commissioning steps in the commissioning menu Perform the commissioning steps in the commissioning menu. Call up the commissioning menu using the "I" key from the main menu or from the display screens. Figure 9-10 Monitor function, Commissioning menu Start with commissioning step 1.
Page 332 Commissioning AddOn Software 9.4 Sway control commissioning Note Sway control must be deactivated during commissioning steps 1 to 3. This is implemented internally and temporarily triggers the error E61. Setting the configuration and important parameters (commissioning step 0) In this commissioning step, the following parameters are called automatically in succession. Enter the correct settings.
Page 333 Commissioning AddOn Software 9.4 Sway control commissioning The minimum (P23, P63) and maximum position (P28, P69) defines the positioning range. If a drive is located outside these limits, error message E35 is generated. In POS mode, travel is only prevented for the affected drive. In SAM mode, travel is prevented for both drives. The parameters "Upper and lower limits for sway control"...
Page 334 Commissioning AddOn Software 9.4 Sway control commissioning The available line-of-sight depends on the choice of lens. See [Ref. 1]. Then repeat this commissioning step. Calculating the effective pendulum length – trolley (commissioning step 2) Note Only systems with a camera measuring system can perform this automatic commissioning step.
Page 335 Commissioning AddOn Software 9.4 Sway control commissioning The following options can be selected for this commissioning step: ● 0 – Reset P80, P81 Parameters P80 and 81 are set to 0, making them inoperative. ● 1 – Basic Calibration It is essential to perform the basic calibration. Swaying motions are initiated at two different heights.
Page 336 Commissioning AddOn Software 9.4 Sway control commissioning Determining the velocity limit (commissioning step 5) You can perform this step in order to check whether the measured actual velocity rV_act_HO (hoist) or rV_act_TR (trolley) is correct. In manual mode (MAN), the drives must be moved individually and steadily at constant velocity. If the drive moves at constant velocity, this should be confirmed by pressing ...
Page 337: Selection Of The Control Method
Commissioning AddOn Software 9.4 Sway control commissioning Saving parameters (commissioning step 7) All parameter sets are saved. 9.4.2.2 Selection of the control method Use parameter P152 to select the control method. The following control methods are available: ● Conventional control - OR - ●...
Page 338 Commissioning AddOn Software 9.4 Sway control commissioning Effective pendulum length correction - overview The following figure provides an overview of the method used to correct the effective pendulum length. It also demonstrates the interaction between digital and analog correction options. Figure 9-13 Effective pendulum length correction Effective pendulum length correction, analog...
Page 339: Setting The Permissible Residual Sway
Commissioning AddOn Software 9.4 Sway control commissioning 9.4.2.4 Setting the permissible residual sway Set the parameters for residual sway (P169, P170) only as low as required. Values that are too low can have the following effects due to dead times in the communication of all components: ●...
Page 340: Defining The Activation Velocity And On Delay
Commissioning AddOn Software 9.4 Sway control commissioning 9.4.2.7 Defining the activation velocity and ON delay The sway control function is activated only when the activation velocity (P146) and sway control ON delay (P147) are reached. It is recommended that both parameters be left at zero. For the activation velocity, a hysteresis of ±...
Page 341 Commissioning AddOn Software 9.4 Sway control commissioning Blue V_POS Yellow V_ACT Parameter P153 is still set to zero and the lines for V_POS and V_REF_delayed are therefore congruent. For this reason, V_REF_delayed is not visible in the chart. Figure 9-14 Measuring the trolley delay time;...
Page 342: Commissioning Positioning Mode (Pos)
Commissioning AddOn Software 9.4 Sway control commissioning Blue V_POS Yel‐ V_ACT V_REF_delayed Figure 9-15 Measuring the trolley delay time; second trace After you have entered the calculated delay time in parameter P153, the values V_ACT and V_REF_delayed are approximately congruent. In other words, the setting is correct and the level of overshoot should be minimal.
Page 343: Changing The Coordinate System
Commissioning AddOn Software 9.4 Sway control commissioning Display: ● Internal targets The "target position" has the following suffix: xxxxx (int.) ● External targets The "target position" has no suffix: xxxxx The screenshot below demonstrates the differences in the display of external and internal targets.
Page 344 Commissioning AddOn Software 9.4 Sway control commissioning Figure 9-17 Conversion of the position values for the trolley "Calculate" is used to determine the factor and offset for the current position of the trolley. SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...
Page 345: Position Controller Setting
Commissioning AddOn Software 9.4 Sway control commissioning 9.4.3.3 Position controller setting The position controllers must be set in the following sequence: Set position controllers (P160, P163) to zero and start the positioning over a longer distance The setpoint and target positions must be virtually identical at the end. Slight differences result through the deactivated position controller.
Page 346: Other Settings
Commissioning AddOn Software 9.4 Sway control commissioning 9.4.3.4 Other settings You can manually set the following parameters: Reduction of overshoot (P87) P87 is used to generate a factor internally which ensures that deceleration is initiated ahead of time when lowering based on the pendulum length. The overshoot is reduced, as aperiodic sway neutralization already takes place before the target position is reached.
Page 347: Commissioning Semi-Automatic (Sam) Mode
Commissioning AddOn Software 9.4 Sway control commissioning Target generator mode in semi-automatic mode (SAM) (P109) ● Selection 1: You can disable travel towards the water in SAM mode; see parameter description in Chapter General (Page 408). – Selection 1 = ON: Targets on the waterside are not approached. –...
Page 348 Commissioning AddOn Software 9.4 Sway control commissioning Collision protection In semi-automatic mode (SAM) and in MAN mode only if activated, software collision protection is activated. Based on the current position, it is determined how far the spreader is from a blocked region.
Page 349: On-The-Fly Unloading, Gsu Only
Although the lane is then no longer present in the "TargetPos.txt" file, it remains active in the function until the SIMOTION D4x5-2 DP/PN is restarted (e.g. by Power OFF and ON). Only then do the changes made to the "TargetPos.txt" file take effect.
Page 350: Commissioning Tls (Hydraulic System)
Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) Generally, on-the-fly unloading is only used in conjunction with the POS and SAM modes (selection 2 = ON). Selection 3 must always be ON for on-the-fly unloading. In this case, the pendulum deflection during travel toward land and back again remains constant.
Page 351: Activating The Tls Functions
Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) Items What needs to be checked? o.k. SIMOCRANE CenSOR camera measuring ● Functional capability system Hydraulic system ● Functional capability ● Position sensing 9.5.2 Activating the TLS functions ● Set the following parameters to activate the TLS functions with the hydraulic system: –...
Page 352: Parameterizing "Cylinder Jogging" Mode
Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) 9.5.4 Parameterizing "cylinder jogging" mode Figure 9-18 Position controller Set the following values to commission the cylinder position control: 1. P254 (set velocity cylinder) 2. P255 (set acceleration cylinder) 3. P262 (normalization value cylinder) Default value is equivalent to 100% for analog input and output modules.
Page 353 Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) 6. With parameters P266 to P277, modification of the velocity value is set via the break-points of the characteristic to compensate for non-linearities of the cylinder control. Additional acceleration limitation of the output velocity of the cylinder is not applied. If the cylinder control provides sufficiently good results with the default values (=0), this step can be skipped.
Page 354: Parameterization Of The Central Positions Of The Cylinders
Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) – 0 < = IN1_POS <= IN2_POS <= IN3_POS <= P261 – The parameter values for the positive range of v_out_a (OUT1_POS, OUT2_POS, OUT3_POS) must be greater than or equal to 0 and less than or equal to P261. (The same applies to cylinders b, c, and d.) –...
Page 355 Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) Practical note on the possible positions for the zero positions The following parameters determine the range of possible zero positions: ● P245, P246, P247, P248 (mid-position cylinder A, B, C, D) These are the mid-positions for the cylinders. These values are defined by mechanical design of the TLS cylinders.
Page 356: Tls Inching And Go To Zero Positions
Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) The parameter numbers stated refer to cylinder A ① Symbolic representation of a cylinder (marked yellow) ② Overall travel range of the cylinder (marked blue) ③ Value range permitted for the zero position (marked red) in accordance with the parame‐ terization ④...
Page 357: Conversion Of Cylinder Positions, Angle Of Rotation
Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) 9.5.7 Conversion of cylinder positions, angle of rotation It is important to set parameter P280 correctly in order to ensure proper functioning of the skew damping system. Determine the angle of rotation resulting from the cylinder positions and the transformation factor P280: Angle of rotation in cgr = s_act_S * P280 The following procedure is recommended: Calculation of the transformation factor P280...
Page 358 Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) NOTICE Increased oscillation possible due to selection of incorrect spreader lengths Incorrect selection of spreader lengths can result in increased oscillation and potentially lead to property damage. ● Make sure that the control bits are set to reflect the actual state of the spreader in the higher-level control system.
Page 359 Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) Approximate relationship between effective pendulum length and hoisting height Approximate effective pendulum length [in mm] Measured hoisting height factor P304, P306, P308, P310 as a function of the spreader length offset P305, P307, P309, P311 as a function of the spreader length Oscillation test procedure Proceed as follows: ●...
Page 360: Monitoring The Camera Measuring System
Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) ● Calculation of the offset: ● Check the correctness of the factor and offset: Check the determined parameters with the following inequality: Maximum hoist position > I P305 : P304 I If the inequality statement is false, the oscillation experiment must be performed with a larger value for h To check the settings additionally, the hoist can be moved to any height.
Page 361: Parameterization Of Observer
Commissioning AddOn Software 9.5 Commissioning TLS (hydraulic system) 9.5.10 Parameterization of observer Proceed as follows: ● Excite skew oscillation and use a trace to verify that camera angle psi_cam and model angle psi_model match each other. If an offset is present, this can be ignored. Only phase and amplitude are significant for the function.
Page 362: Commissioning Tls (Hydraulic System With Electric Drive)
Commissioning AddOn Software 9.6 Commissioning TLS (hydraulic system with electric drive) time P300 P302 time Figure 9-21 P302 Commissioning TLS (hydraulic system with electric drive) 9.6.1 System requirements This chapter refers to the TLS commissioning of a crane according to Chapter Mechanical requirements for TLS with a hydraulic system and electric drive (Page 239).
Page 363: Commissioning Cylinders
Commissioning AddOn Software 9.6 Commissioning TLS (hydraulic system with electric drive) 9.6.2 Commissioning cylinders Perform the following steps: 1. Activating the TLS functions Set the following parameters for activation of the TLS functions: – P240=1 – P320=1 – P321=0 2. See Chapter Parameterization of the actual positions (Page 351) 3.
Page 364: Position Controller Setting (P328)
Commissioning AddOn Software 9.6 Commissioning TLS (hydraulic system with electric drive) ① Electrically driven spindle ② Hoist ropes ③ Rope anchors Figure 9-22 Zero position of the skew drive spindle Explanation of the diagram: Zero position = the spindle position at which the angle (shown by green line) is 90 °. This position should be approximately in the center of the traversing range of the spindle.
Page 365: Setting The Limit For Set Position P324
Commissioning AddOn Software 9.6 Commissioning TLS (hydraulic system with electric drive) Perform the following steps: 1. Inching movement with the skew axis Start an inching movement with the skew axis over a fairly long path with P328 set to its default value.
Page 366: Parameterization Of Skew Damping
Commissioning AddOn Software 9.6 Commissioning TLS (hydraulic system with electric drive) Calculation of the transformation factor P327 It is important to set parameter P327 correctly in order to ensure proper functioning of the skew- damping system. The following procedure is recommended: 1.
Page 367: Commissioning Tls (Skew Damping With Electric Drive Only)
Commissioning AddOn Software 9.7 Commissioning TLS (skew damping with electric drive only) Commissioning TLS (skew damping with electric drive only) 9.7.1 System requirements Before you start the commissioning process, you must ensure that the following requirements are fulfilled. General requirements The following system requirements must be fulfilled.
Page 368: Activation Of Tls Function And Skew Drive
Commissioning AddOn Software 9.7 Commissioning TLS (skew damping with electric drive only) Items What needs to be checked? o.k. Manual operation for TLS cylinders ● Commissioning (external hydraulic system) ● Functional capability ● External engineering ● Safety functions (as under No. 2) Spindle of the skew drive ●...
Page 369: Alarm, Error, And System Messages
Alarm, error, and system messages Safety-relevant monitoring operations must operate correctly both with and without sway control and be fail-safe. 10.1 Following error monitoring Trolley and hoist The following error monitoring system for trolley and hoist can be activated for the positioning (POS) and semi-automatic (SAM) modes.
Page 370: Velocity Monitoring
Alarm, error, and system messages 10.2 Velocity monitoring Note Limitations of the output velocity (e.g. in the converter) can trigger a following error. Cylinder and skew drive with TLS control The following error monitoring system responds if the deviation between the current position and the calculated set position is greater than the permitted value.
Page 371: Monitoring Of Start Of Sway Control
Alarm, error, and system messages 10.4 Monitoring the oscillation state The velocity is not monitored when the following error parameter of the drive (P161, P164) is set to zero. Remedy: Check position values and transfer of the output velocity. 10.3 Monitoring of start of sway control The warning E65 "Sway control off (start)"...
Page 372: Monitoring Of Excessive Oscillations
Alarm, error, and system messages 10.4 Monitoring the oscillation state 10.4.1 Monitoring of excessive oscillations If the pendulum deflection of the oscillation exceeds the set response threshold (P156), this can be detected and evaluated. Bit 6 "Excessive oscillation" is provided in the status word "INFO_NO_AUTO_START"...
Page 373: Error Messages
Alarm, error, and system messages 10.5 Error messages is set to zero and the error message E63 is generated. The sway control system then stops controlling the sway. Monitoring of oscillations that cannot be eliminated during stopping If an oscillation cannot be controlled during stopping, the damping factor is gradually reduced. The error message E63 is output depending on the setting in parameter P159.
Page 374: Error List Addon
Alarm, error, and system messages 10.5 Error messages 10.5.3 Error list AddOn 10.5.3.1 Overview The errors from the sway control system are categorized as follows: General and severe errors Errors in the limit or prelimit switch area E20 to Errors in semi-automatic mode E30 to Other errors 1 E50 to...
Page 375 Alarm, error, and system messages 10.5 Error messages Error Bit No. Brief description Backward prelimit switch switches incorrectly, trolley Lower prelimit switch switches incorrectly, hoist Forward limit switch switches incorrectly, trolley Upper limit switch switches incorrectly, hoist Backward limit switch switches incorrectly, trolley Lower limit switch switches incorrectly, hoist E28-E29 Reserved...
Page 376: General And Severe Errors
Alarm, error, and system messages 10.5 Error messages Error Bit No. Brief description Start POS or SAM with excessive oscillation Damping factor reduced, trolley Velocity too high before blocked region Sway-control Off (start) Sway control only when stopping Controlled stop active Table 10-6 TLS error (error double word 2) Error...
Page 377 Alarm, error, and system messages 10.5 Error messages E1 (Bit 13) Error in the DCC chart The DCC chart is faulty At least one DCC block is missing for the selected application. Error type: Error Remedy: Add missing DCC block In a system without a camera measuring system (GSU), P102 must be set to 0 = ship unloader (without camera).
Page 378 Alarm, error, and system messages 10.5 Error messages E6 (Bit 1) Invalid mode, hoist An operating mode that is not available has been selected or several operating modes have been selected at the same time. The error message also appears when semi-automatic mode (SAM) has been selected for only one drive.
Page 379: Error In The Limit Or Prelimit Switch Area
Alarm, error, and system messages 10.5 Error messages E12 (Bit -/-) Corrupted language file Lines that are too long or cannot be displayed have been detected during loading of the language file Sprache0.txt or Sprache1.txt. Error values: 0…199 – Parameter texts 200...300 –...
Page 380: Error In Semi-Automatic Mode
Alarm, error, and system messages 10.5 Error messages E24 (Bit -/-) Forward limit switch switches incorrectly, trolley 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 forward and backward limit switch signals...
Page 381 Alarm, error, and system messages 10.5 Error messages E31 (Bit 4) Invalid target position, trolley The target position of the trolley is outside the set limits (P23, P28). Error type: Error Remedy: Check parameters for limits. E32 (Bit 4) Invalid target position, hoist The target position of the hoist is outside the set limits (P63, P69).
Page 382 Alarm, error, and system messages 10.5 Error messages During travel: The actual position has violated a fixed or variable blocked region. The course has deviated too far from the setpoint. Error type: Error Remedy: If necessary, move out of the fixed blocked region (e.g. sill beam zone) manually, increase safety clearances P33, P72, increase control re‐...
Page 383 Alarm, error, and system messages 10.5 Error messages E43 (Bit -/-) Crane geometry /dynamic response is incorrect The crane geometry parameters are not set correctly. The error is triggered when at least one of the following three criteria is fulfilled: ●...
Page 384: Other Errors 1
Alarm, error, and system messages 10.5 Error messages 10.5.3.6 Other errors 1 E50 (Bit 11) Velocity error, trolley The trolley 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 (P0) and the crane is not moving or moving in the wrong direction ●...
Page 385: Other Errors 2
Alarm, error, and system messages 10.5 Error messages The error can be analyzed more closely based on the error value: ● Error value [1]: The trolley is moving at a velocity of >20% (reference value is P0) forward or backward. ●...
Page 386 Alarm, error, and system messages 10.5 Error messages Error type: Error Remedy: Check parameters. E62 (Bit 6) Start POS or SAM with excessive oscillation Travel has been started in POS or SAM mode at a time when the oscillation was excessive. The error bit is set if the oscillation is greater than the value set in P156.
Page 387: Simocrane Cecomm Diagnostic Program
Alarm, error, and system messages 10.5 Error messages E65 (Bit -/-) Sway control off (start) The set activation velocity (P146) has not been reached or the sway control ON delay (P147) has not yet elapsed, in order to start the sway-control function. This warning is only triggered in manual mode (MAN).
Page 388 Alarm, error, and system messages 10.5 Error messages E69 Failure rate of camera signal too large for skew damping Error E69 is set if the bit "CAMERA_OK" was equal to 1 for a time period P312 (time window camera fault detection TLS) in a lower percentage of SIMOTION cycles than specified in P313 (camera fault trigger threshold TLS).
Page 389 Alarm, error, and system messages 10.5 Error messages The following limits are implemented: Frequency of the 0.008 [Hz] mathematical calculation model psi_act_abcd -2000 2000 [cgr] psi_act_SkA -2000 2000 [cgr] psi_act_SkA + psi_act_abcd -2000 2000 [cgr] Output signals can supply false values in the event of an error. Procedure in the event of an error ●...
Page 390 Alarm, error, and system messages 10.5 Error messages E74 Maximum values of internal physical variables reached The error occurs if the variables in the mathematical calculation model exceed the following limits: psi_model -4000 4000 [cgr] psip_model -2000 · 2pi · 5 -2000 ·...
Page 391 Alarm, error, and system messages 10.5 Error messages E77 Impermissible change to mode_comm Changing the value of mode_comm while control bit "move" or "move_SkA" is set, sets the error and the output velocity of the cylinders and the skew axis suddenly become 0. The error is reset as soon as "move"...
Page 392 Alarm, error, and system messages 10.5 Error messages E81 Maximum position of cylinder A exceeded Error E81 occurs if the actual position s_act_A assumes a value that is outside the interval [P245-P249, P245+P249]. If this error occurs for at least one of the cylinders, all cylinders can only be operated with mode_comm = 1.
Page 393: Parameters
Parameters 11.1 Overview of the parameter list The parameters for configuring the sway control system are grouped as follows: Trolley parameters Hoist parameters Sway control parameters General parameters P100 P119 Camera/reflector parameters P120 P139 Travel behavior parameters P140 P159 Controlled variable parameters P160 P179 TLS parameters...
Page 394 Parameters 11.2 Trolley Note After confirmation of the parameter P0, a prompt will be made whether the P1, P7, P6 and P5 parameters should be updated. Updating is meaningful only if the velocities and acceleration rates dependent upon P0 have already been entered and only P0 needs to be adjusted. With this "update"...
Page 395 Parameters 11.2 Trolley P6 Set acceleration, trolley The set acceleration is an internal acceleration variable in mm/s . It is operative in all operating modes not only in the acceleration, but also in the deceleration phase. Input values less than 20 are interpreted as ramp time.
Page 396 Parameters 11.2 Trolley P12 Smoothing of torque setpoint, trolley In addition to the output velocity, the output acceleration is fed back to the PLC for the torque precontrol of a velocity control loop. The smoothing of the torque setpoint can be set with this time constant.
Page 397 Parameters 11.2 Trolley Note If parameter P26 is changed, the internally learned obstacles 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 P26. P27 Position for prelimit switch velocity, trolley, forward Position at which the trolley must have attained the prelimit switch velocity (P2).
Page 398 Parameters 11.2 Trolley P31 Distance for opening the grab During on-the-fly unloading, the OPEN_GRAB status bit is set when the distance between the load position (grab) and the target position is smaller than this parameter value. Default: 1000 [mm] min: 0 [mm] max: 50000 [mm] Access code: 1 Display: Only for GSU (P102, selection 0 = ON)
Page 399 Parameters 11.2 Trolley P37 Bay scanner position offset Deviation of the bay scanner position from the trolley position. Positive values mean that the bay scanner is offset by this value from the current position of the trolley in the waterside direction.
Page 400: Hoist
Parameters 11.3 Hoist 11.3 Hoist P40 Maximum output velocity, hoist This value corresponds to the maximum attainable velocity (V_POS). Default: 1400 [mm/s] min: 10 [mm/s] max: 5000 [mm/s] Access code: 0 Display: Always Note After confirmation of the parameter P40, a prompt will be made whether the P41, P51 and P50 parameters should be updated.
Page 401 Parameters 11.3 Hoist P45 Hoisting velocity reduction This value can be used to limit the velocity during hoisting. The maximum possible output velocity is calculated from P40 * P45/100. Applies in all modes. Default: 100 [%] min: 1 [%] max: 100 [%] Access code: 1 Display: Always P46 Immersion point velocity limit...
Page 402 Parameters 11.3 Hoist P50 Maximum acceleration, hoist The set value corresponds to the maximum drive acceleration/deceleration. The value should be 50 ... 100% higher than the set acceleration (P51). Input values less than 20 are interpreted as ramp time. Set manually according to manufacturer's or customer's specifications. Default: 500 [mm/s min: 1 [mm/s max: 5000 [mm/s...
Page 403 Parameters 11.3 Hoist The smoothing of the torque setpoint can be set with this time constant. If the value is less than 1, the delay element is deactivated. Default: 20 [ms] min: 0 [ms] max: 200 [ms] Access code: 2 Display: Always P56 Velocity in variable blocked region, hoist (MAN) Limitation by master switch of set velocity in a variable blocked region in MAN mode.
Page 404 Parameters 11.3 Hoist P65 Waiting position, hoist This parameter is used to define the waiting position for the hoist. Default: 30000 [mm] min: -200000 [mm] max: 200000 [mm] Access code: 0 Display: Always P66 Minimum hoisting height, landside Below the minimum hoisting height on the landside, only the hoist is operated when travel in SAM mode starts;...
Page 405 Parameters 11.3 Hoist Note If parameter P69 is changed, the internally learned obstacles 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 P69. P70 Safe height on land Travel in SAM will always stop above this position on land.
Page 406 Parameters 11.3 Hoist P75 Horizontal trolley travel to the hopper (GSU) Travel length over the hopper without hoist movement. Value 1 activates automatic calculation. The parameter is operative only when on-the-fly unloading has been activated. This means: ● On-the-fly unloading is enabled with parameter P152 (selection 3 = ON). ●...
Page 407: Sway Control System
Parameters 11.4 Sway control system 11.4 Sway control system P80 Digital effective pendulum length correction Correction value for the effective pendulum length when bit "DIG_HOIST_DIST_CORR" is set. Default: 0 [mm] min: -50000 [mm] max: 50000 [mm] Access code: 1 Display: Always P81 Analog effective pendulum length correction Correction value for the effective pendulum length.
Page 408: General
Parameters 11.5 General P86 Trolley damping factor when accelerating (MAN) Trolley damping factor for conventional sway control in manual (MAN) mode when accelerating. High values result in non-periodic transient responses and low values in overshoots and shorter rise times. To achieve fast acceleration, the value should be lower than the deceleration setting.
Page 409 Parameters 11.5 General Service technician Development engineer Access code for changing parameters. Default: #1 Access code: 0 Display: Always P101 Parameter set locked during travel Selection: Switching over the parameter set is possible at any time. Switching over the parameter set is only possible at standstill, i.e. when the ACTIVE status bit is reset for the trolley and the hoist.
Page 410 Parameters 11.5 General P106 Spreader/grab width This parameter is used to determine the blocked regions (see Chapter Commissioning semi- automatic (SAM) mode (Page 347)) and the values of the target position list (TPL). Note When this parameter is changed, the target position list (TPL) is initialized. The learned lanes are retained.
Page 411 Parameters 11.5 General P110 Language Selection: German English This parameter specifies the language used by the diagnostic software. Independently of the setting of P110 (language) and P100 (access code), the language can also be set with the SIMOCRANE CeCOMM diagnostic program (Windows Options/Language menu function).
Page 412: Camera Measuring System/Reflector
Parameters 11.6 Camera measuring system/reflector P115 Configuration of prelimit switches Deceleration of the trolley and the hoist before the minimum or maximum position to prelimit switch velocity. The dynamic prelimit switches (P24, P27, P64, P68) are enabled and disabled. Meaning: Dynamic prelimit switches deactivated, bits for prelimit switches active Dynamic prelimit switches activated.
Page 413: Travel Characteristic
Parameters 11.7 Travel characteristic P121 Delay of camera data, trolley Delay of the camera signal from the image recording until injection into the mathematical calculation model. Default: 0 [ms] min: 0 [ms] max: 10000 [ms] Access code: 2 Display: Only for STS (P102, selection 1 = ON) P123 Gain of the camera measuring signal Value for injecting the camera measuring signal into the mathematical calculation model.
Page 414 Parameters 11.7 Travel characteristic P141 Suppress opposite direction In manual mode, until this percentage value of the maximum velocity is reached, the drive is only moved in the direction specified by the crane driver. Default: 20 [%] min: 0 [%] max: 100 [%] Access code: 0 Display: Always...
Page 415 Parameters 11.7 Travel characteristic P146 Activation velocity for sway control If the absolute value of the output velocity is greater than this value, the sway control is activated after the ON delay in P147 expires. A hysteresis of ± 5% applies to prevent continuous activation and deactivation of the sway control system.
Page 416 Parameters 11.7 Travel characteristic P152 Conventional/time-optimized control, trolley Selection: Time-optimized control method for MAN mode OFF Conventional control method for MAN mode Time-optimized control method for POS and SAM modes OFF Conventional control method for POS and SAM modes On-the-fly unloading enabled (only when GSU is selected) OFF On-the-fly unloading not enabled (only when GSU is selected) On-the-fly unloading with max.
Page 417 Parameters 11.7 Travel characteristic P155 Distance for detection of increased oscillation If the oscillation increases by this distance after each half-period, the sway control system is switched off after the fourth half-period. You will find more information in Chapter Monitoring of the sway control system (Page 372) ⇒ "Monitoring of increased oscillation".
Page 418: Controlled Variables
Parameters 11.8 Controlled variables 11.8 Controlled variables P160 Position controller, trolley 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 deceleration ramp.
Page 419 Parameters 11.8 Controlled variables P165 Positioning accuracy, hoist Tolerance within which a positioning operation should be completed. Default: 100 [mm] min: 1 [mm] max: 1000 [mm] Access code: 0 Display: Always P169 Permissible residual sway Largest permissible pendulum deflection after completion of a movement of the trolley. When the pendulum deflection falls below this value, the SC_COMPLETED status bit will be set.
Page 420: Tls
Parameters 11.9 TLS The parameter is only operative with fixed blocked regions. Default: 100 [mm] min: 0 [mm] max: 2000 [mm] Access code: 1 Display: Always P239 Commissioning status Information encoded bit by bit indicating which commissioning steps have been completed successfully.
Page 421 Parameters 11.9 TLS P243 Position conversion factor cylinder C Position conversion factor POS_CAL_C [mm] = RPOS_C · P243 Default: 1 min: -100000 [mm] max: 100000 [mm] Access code: 0 P244 Position conversion factor cylinder D Position conversion factor POS_CAL_D [mm] = RPOS_D · P244 Default: 1 min: -100000 [mm] max: 100000 [mm]...
Page 422 Parameters 11.9 TLS P249 Maximum deviation cylinder Maximum deviation cylinder Default: 650 [mm] min: 1 [mm] max: 5000 [mm] Access code: 0 P250 Zero position cylinder A 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"...
Page 423 Parameters 11.9 TLS P254 Set velocity cylinder Maximum set velocity in all TLS operating modes Default: 4 [mm/s] min: 0 [mm/s] max: 100000 [mm/s] Access code: 0 P255 Set acceleration cylinder Maximum set acceleration in all TLS operating modes Default: 40 [mm/s min: 0 [mm/s max: 100000 [mm/s Access code: 0...
Page 424 Parameters 11.9 TLS P260 Maximum distance cylinder Maximum distance of a cylinder from the zero position. Limiter directly upstream of the position controller. Relevant for monitoring the actual position. Default: 600 [mm] min: 0 [mm] max: 100000 [mm] Access code: 0 P261 Maximum velocity cylinder The maximum velocity of the cylinder limits the output velocity of the cylinder "v_out"...
Page 425 Parameters 11.9 TLS P266 Break-point coordinate IN1_NEG First negative IN break-point coordinate Default: 0 [mm/s] min: -100000 [mm/s] max: 0 [mm/s] Access code: 0 P267 Break-point coordinate OUT1_NEG First negative OUT break-point coordinate Default: 0 [mm/s] min: -100000 [mm/s] max: 0 [mm/s] Access code: 0 P268 Break-point coordinate IN2_NEG Second negative IN break-point coordinate...
Page 426 Parameters 11.9 TLS P272 Break-point coordinate IN1_POS First positive IN break-point coordinate Default: 0 [mm/s] min: 0 [mm/s] max: 100000 [mm/s] Access code: 0 P273 Break-point coordinate OUT1_POS First positive OUT break-point coordinate Default: 0 [mm/s] min: 0 [mm/s] max: 100000 [mm/s] Access code: 0 P274 Break-point coordinate IN2_POS Second positive IN break-point coordinate...
Page 427 Parameters 11.9 TLS P278 Following error cylinder Permissible deviation between the set and actual positions for cylinders A to D exceeded during travel. When the value is exceeded, an error message (E79) is output. If the value = 0 is set, following error monitoring is not active.
Page 428 Parameters 11.9 TLS P301 Permissible residual sway Residual sway smaller than the value set in P301 is a condition for setting the "skew_removed" status bit. Measure of residual sway: sqrt((psi_model · psi_model)+((psip_model/omega) · (psip_model/omega))) Default: 50 [cgr] min: 0 [cgr] max: 2000 [cgr] Access code: 0 P302 Period for dyn.
Page 429 Parameters 11.9 TLS P306 Factor pendulum length for 30 ft container Factor for calculating the effective pendulum length for a 30-foot long spreader Default: -1 min: -100000 max: 100000 Access code: 0 P307 Offset pendulum length for 30 ft container Offset for calculating the effective pendulum length for a 30-foot long spreader Default: 50000 min: -300000...
Page 430 Parameters 11.9 TLS P312 Time window camera fault detection TLS Period during which criterion "internal deactivation of skew-damping function" must be fulfilled with poor camera signal Default: 30 [s] min: 0 [s] max: 1000 [s] Access code: 0 P313 Camera fault trigger threshold The Camera_OK status bit must be set at least for this percentage (trigger threshold) of all cycles within time window P312.
Page 431 Parameters 11.9 TLS Default: 0 Access code: 0 P321 Cylinder control disabled Software is used solely for skew-damping purposes. The cylinder control functions are deactivated. ● 0: Cylinder control on ● 1: Cylinder control off Default: 0 Access code: 0 P322 Position conversion factor for skew drive The actual position of the skew axis is calculated as follows: s_act_SkA = P322 ·...
Page 432 Parameters 11.9 TLS P326 Max. acceleration of skew drive (spindle) This is the maximum acceleration. The output acceleration output for the skew drive is limited to this value. If P326=0 is set, the acceleration limit is inoperative. Default: 100 [mm/s min: 0 [mm/s max: 10000 [mm/s Access code: 0...
Page 433 Parameters 11.9 TLS P332 Normalization value skew drive Normalization value for the velocity bspeed_skewaxis_norm of the skew drive Default: 32767 min: 1 max: 32767 Access code: 0 P333 Connection of anti-wind-up function Connection of anti-wind-up function ● 0: Connection of anti-wind-up function off ●...
Page 434 Parameters 11.9 TLS P336 Following error skew drive Permissible deviation between set and actual 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]...
Page 435: Appendix
Appendix Service and maintenance General information This chapter provides only selected notes on servicing and maintenance. Please refer to the following operating instructions for comprehensive information: ● SIMOTION D435-2 DP/PN, ● SIMOCRANE CenSOR. Reflector maintenance The reflector must be cleaned regularly in accordance with the amount of dirt. All dirt and paint residues must be removed.
Page 436: List Of Abbreviations
Appendix A.3 List of abbreviations See also FAQ_Lock bit (https://support.industry.siemens.com/cs/ww/en/view/109476225) List of abbreviations The following abbreviations are used in this document: Abbreviation Designation Meaning Operating mode Operating mode (see OM) Basic Technology SIMOCRANE Basic Technology software package Centigrade One-hundredth of a degree; unit of measurement used with the slewing...
Page 437: Assignment Of Signal Names
Appendix A.5 Variable signals Abbreviation Designation Meaning Structured Text Ship-to-shore Container crane Control word Software Trim/list/skew TL positions Twistlock positions Positions at which a container is locked or unlocked. Technology object Technology object in SIMOTION; symbol for a moving axis Target position list Trolley Waterside...
Page 438 Appendix A.5 Variable signals Index German name English name Description Achse.soll.Beschl Axis_reference.acceleration Set acceleration Achse.ist.Weg Axis.actual.section Actual position Achse.ist.Geschw Axis.actual.velocity Actual velocity Achse.ist.Beschl Axis.actual.acceleration Actual acceleration Achse.stell.Weg Axis.manipulat.section Output position Achse.stell.Geschw Axis.manip.velocity Output velocity Achse.stell.Beschl Axis.manip.acceleration Output acceleration Achse.verzoeg.Weg Axis.delay.section Delayed position Achse.verzoeg.Geschw Axis.delay.velocity...
Page 439 Appendix A.5 Variable signals Input bits Index German name English name Description RELEASE RELEASE Release TRAVEL TRAVEL Travel OM_POS OM_POS Positioning mode OM_MAN OM_MAN Manual mode OM_SNL OM_SNL Sway neutralization load position mode OM_SND OM_SND Sway neutralization trolley position mode OM_SAM OM_SAM Semi-automatic mode...
Page 440 Appendix A.5 Variable signals Index German name English name Description OFFSET_TO_LAND OFFSET_TO_LAND Offset to land OFFSET_TO_WATER OFFSET_TO_WATER Offset to water DIG_HOIST_DIST_CORR DIG_HOIST_DIST_CORR Effective pendulum length offset MAN_FIXOBST_OFF MAN_FIXOBST_OFF Fixed obstacles manual mode MAN_VAROBST_OFF MAN_VAROBST_OFF Variable obstacles manual mode USE_EXT_TARGETS USE_EXT_TARGETS Use external targets Output bits Index German name...
Page 441 Appendix A.5 Variable signals Index German name English name Description KEIN_WEG_GEFUNDEN NO_WAY_FOUND No path found IST_GLEICH_ZIELPOS START_EQUAL_TARGET Actual position is same as target position SCHWIN‐ OSCILLA‐ Excessive oscillation GUNG_ZU_GROSS TION_TOO_LARGE SCHLAFFSEIL_WS SLACKROPE_WS Slack rope, waterside HO_UNTER_EINTPKT HO_BELOW_IMPNT Hoist below immersion point ZIELPOS_IN_V_HIND TARGET_IN_VAR_AREA Target position in variable obstacle...
Page 442 Appendix A.5 Variable signals Index German name English name Description FehBit35_E72 ErrBit35_E72 Error bit 35 (E72) FehBit36_E73 ErrBit36_E73 Error bit 36 (E73) FehBit37_E74 ErrBit37_E74 Error bit 37 (E74) FehBit38_E75 ErrBit38_E75 Error bit 38 (E75) FehBit39_E77 ErrBit39_E77 Error bit 39 (E77) FehBit40_E78 ErrBit40_E78 Error bit 40 (E78)
Page 443: Glossary
Glossary AddOn An AddOn is an optional module that extends existing hardware or software. The existing libraries of the relevant application are used for this purpose and also expanded by new functions. To use a simple analogy, an AddOn is installed "backpack style" on top of the main application and can be uninstalled at any time without impairing the proper functioning of the main application.
Page 444 Glossary Hoist Hoist refers to the lifting mechanism of the crane. Hopper A container for a loose bulk material, typically one that tapers downward and is able to discharge its contents at the bottom. List Tilting motion of the spreader to the waterside/landside from the perspective of the crane driver (in the crane driver's cabin).
Page 445 Glossary Skew Rotation of the spreader in a clockwise/counterclockwise direction from the perspective of the crane driver (in the crane driver's cabin). Skew damping Describes the function used to implement skew oscillation control. STS (Ship to Shore) container cranes STS cranes use spreaders or double spreaders to transport containers from a ship to shore or vice versa.
Page 446 Glossary SC integrated STS, GSU Operating Instructions, 07/2019, A5E48271265B AA...

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Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

1 Fundamental Safety Instructions

2 System Description

3 Overview of the Software

4 Communication Interface to SIMATIC S7

5 Configuration

6 Sway Control Function Description

7 TLS Control Function Description

8 SIMOCRANE Cecomm Commissioning and Diagnostic Program

9 Commissioning Addon Software

10 Alarm, Error, and System Messages

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Summary of Contents for Siemens SIMOTION D4x5-2 DP/PN