Influence Of Parameters P75/P76 And P158 On The Trajectory - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

6.27.2.3

Influence of parameters P75/P76 and P158 on the trajectory

You can use parameters P75/76 and P158 to influence the trajectory.
● P75/76
These parameters influence the horizontal trajectory over the hopper and also determine
the remaining trajectory to the ship.
● P158
This parameter influences the upward trajectory to the hopper and therefore determines the
remaining trajectory over the hopper.
Please note that making simultaneous changes to the settings of parameters P75/P76 and
P158 does not improve the trajectory. The reason for this is that the parameters have different
effects on the calculation, which means that the horizontal trajectory and the upward trajectory
do not coincide.
Note
Avoid making simultaneous changes to the settings of parameters P75/P76 and P158.
Note
Parameterization errors may result in deviations from the calculated trajectory.
Horizontal travel over the hopper (P75/P76)
The parameters specify the minimum length that the trolley should travel above the hopper
without a hoist movement being performed. It is possible to calculate the travel curve
independently of blocked regions using these parameters. In effect, a horizontal path is added.
Parameter P75 applies to travel towards the land (ship to hopper).
Parameter P76 applies to travel towards the water (hopper to ship).
Both parameters are deactivated when they are set to zero.
General conditions for using P75 and P76
● The obstacle around the hopper is significantly higher than all other obstacles between the
start and target (as is usually the case). Only in this way can a sufficient length of straight
travel be made possible.
● The target above the hopper must be higher than the obstacle + safety clearance and travel
clearance.
If parameters P75/P76 are not observed, i.e. the starting point of a travel operation in semi-
automatic mode (SAM) is located below the minimum clearance (value of the parameters P75/
P76), the horizontal travel over the hopper is also reduced. Angular travel curves can occur.
However, this requires that the previously described supplementary conditions continue to be
observed.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
Sway Control function description
6.27 Special aspects of GSU applications
233