Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual page 231

Figure 6-46
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. The feedback control system catches this offset as fast as possible.
Section 3:
Because the trolley is in the deceleration phase, the grab sways forward. The signal to "open
grab" (status bit OPEN_GRAB) is set because the "distance before opening the grab" (P31) has
been undershot. Unloading begins. (The material to be loaded is thrown into the funnel.)
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
Unloading operation for on-the-fly unloading
Sway Control function description
6.27 Special aspects of GSU applications
231