Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual 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.
– When SAM travel is active: The previous calculation remains valid and travel is
● START_2D_CALC = 1
– When SAM starts up initially: The trajectory is calculated and travel is initiated.
– When SAM travel is active: Setting it again during SAM travel results in recalculation of
If external obstacles are transferred after SAM has started, this can significantly shorten waiting
times.
The following scenario is conceivable:
1. SAM is started, START_2D_CALC = 0
2. The hoist performs a lifting operation and the blocked regions are transferred at the same
time.
3. All the blocked regions have been transferred; START_2D_CALC = 1 is set.
4. The interpolation points are calculated and trajectory travel is initiated.
Status bit BLOCK_REG_TOO_CLOSE in version V3.0 and higher
A new status bit BLOCK_REG_TOO_CLOSE has been introduced in the status word
INFO_START_AUTO_OK to ensure the safety of SAM travel.
The BLOCK_REG_TOO_CLOSE status bit is set when the braking distance before a blocked
region is no longer sufficient to permit SAM travel to be safely started during movement. An
extension of the braking distance in the direction of the trolley is then taken into account by the
sway control.
The START_AUTO_OK bit is set to zero at the same time to inform the higher-level control that
a switch to SAM is not permitted. If the bit is ignored and a switch to SAM takes place all the
same, error message E64, SAM error bit 11, is output but without any further reaction. The
higher-level control must ensure that an appropriate reaction is executed.
Note
Ignoring the BLOCK_REG_TOO_CLOSE bit can result in a collision in a blocked region!
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Only the hoist starts the hoisting operation.
continued.
the interpolation points. Depending on the current state, the travel curve is also changed
if necessary.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA