Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual 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. If the target list is to be updated with the actual values, the bits
OFFSET_TO_LAND and OFFSET_TO_WATER must be reset.
Note
The values in the target position list do not take any external disturbance factors into account,
such as:
● Tidal range
● Loading condition of the ship
● Slack rope
● Diagonal pull
● Incorrect operation by the crane driver
● Deviation of the current measured position from the actual position due to mechanical or
electrical reasons
Because of this, it may not be possible to use positions stored in the past for subsequent
container handling.
Note
Ensure that the SLACKROPE status bit is not set before the trolley starts a travel operation.
Control targets on the waterside and add an offset to them
An offset can be defined for the targets on the waterside (P35 for unloading, P36 for loading)
in conjunction with the target generator. This can be activated by the control bits
OFFSET_TO_LAND and OFFSET_TO_WATER.
The following table shows the calculation of the next target position on the waterside,
depending on the stacking type and the state of the control bit for specifying an offset. The
starting point is always position s(n) with index n. This is the last position on the waterside at
which a container has been picked up or placed (locking state changed). The positions s(n+1)
(→ direction of waterside) and s(n-1) (direction of land) are the positions that are saved in the
neighboring indexes of the target position and which are to be approached next.
Target positions for the trolley
Offset = P36 for loading or P35 for unloading
Table 6-5 Target positions for the trolley
Offset
OFFSET_TO_LAND
0
1
202
Stacking type
OFFSET_TO_WATER Horiz. WS
0 s(n+1)
1 s(n) + P106
Horiz. LS Vertical
s(n-1) s(n)
s(n) - P106 s(n)
Operating Instructions, 07/2019, A5E48271265B AA
SC integrated STS, GSU