Velocity-Dependent Monitoring Functions Before Semi-Automatic Mode Starts - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

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. Instead, the hoist exits the safety clearance with
sway control in order to terminate travel along the original trajectory.
Note
Avoid diagonal pull when picking up a container.
This will avoid the risk of entering an adjacent blocked region.
This avoids raising and then lowering the hoist over several meters if, for example, the blocked
region is entered by only a few centimeters just before the target. This "pull-out effect" is not
popular with crane drivers.
If the safety clearance is not large enough to allow deceleration with sway control followed by
exit from the safety clearance, however, the hoist might enter the obstacle (red) of a fixed or
variable blocked region.
Possible causes of this kind of situation are as follows:
● The selected safety clearance is too small.
● The velocities are too high.
● The acceleration rates are too low.
Reaction:
● Error message E37 "Actual position in blocked region (SAM)" is output.
● Stopping at maximum acceleration
Immersion point
If the actual position is below the immersion point when travel in SAM mode commences,
hoisting is performed until the hoist position is above the immersion point. The sway control
function is deactivated internally during this phase to avoid collisions with adjacent obstacles.
6.11.3

Velocity-dependent monitoring functions before semi-automatic mode starts

At the start of automatic travel, if the drives are already moving in semi-automatic mode (SAM),
collisions may occur despite correct functioning. This is the case when the braking distance is
too long in order to avoid entering a blocked region.
For this reason, an interlock should be implemented in the higher-level control to prevent travel
in semi-automatic mode from starting when the drives are already moving.
This interlock should be active for the trolley in both directions of motion and for the hoist at least
while lowering. A movement in the hoisting direction can generally be performed without risk
and can therefore usually be permitted without restriction.
The effectiveness of these interlocks is monitored in the sway control software. When this
monitoring function responds, error message E58 (error bit 21) is triggered.
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SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA