Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual page 190

Sway Control function description
6.11 Collision protection - soft approach
Table 6-4
Start position in
blocked region
Target in blocked re‐
gion
Fixed blocked region SAM
If the actual position or the target position is in the obstacle of a fixed blocked region (red), a
travel request will not be executed. Error message E37 "Actual position in blocked region" or
E38 "Target in fixed blocked region" appears.
If the target position is located in the safety clearance of a fixed blocked region (yellow), the
target position for the hoist (internal) is lifted until the target position is no longer located in the
blocked region.
If the blocked region is too high (determined by P69 Maximum position for hoist positioning) and
a target position above the blocked region is not possible, the target position for the hoist is not
changed. The target position for the trolley is changed (internally) such that the new target
position is located before the blocked region. Error message E30 "No path found" is also output
in this case.
If the actual position is in the safety clearance of a fixed blocked region (yellow), no error
message is output. The status bit POS_IN_SAFETY_AREA is set. The system behaves in the
same way as for a variable blocked region.
Fixed blocked region MAN
If the actual position is in the obstacle of a fixed blocked region (red) or in the safety clearance
(yellow), only lifting is possible. The status bit POS_IN_BR_MAN is also set. If the target
position is in the obstacle of a fixed blocked region (red) or in the safety clearance (yellow),
positioning is only possible up to the blocked region (or sooner depending on P173). After
braking, the status bit STOP_AT_OBST_MAN_TR (ZSW_Trolley_PLC) or
STOP_AT_OBST_MAN_HO (ZSW_Hoist_PLC) is set.
Note
In MAN mode, target position describes the position to which one wishes to travel manually.
Limitation only occurs in MAN mode if blocked regions are activated in MAN. Entering a target
in MAN mode has no effect.
190
Overview of reactions to blocked regions
Fixed blocked regions
SAM
Semi-automatic mode
does not start.
MAN
Only lifting is possible.
SAM
Semi-automatic mode
does not start.
MAN
Travel stops before
blocked region.
Variable blocked regions
External Internally learned
SAM
Semi-automatic mode starts. Only the hoist is con‐
trolled until the blocked region is exited however.
MAN
Travel at reduced velocity.
SAM
The trolley stops before the blocked region and the
hoist stops above the blocked region.
MAN
Travel normal as far as blocked region and at re‐
duced velocity in blocked region.
Operating Instructions, 07/2019, A5E48271265B AA
SC integrated STS, GSU