Sway Control Function Description; Activation Of The Addon Technology "Sway Control" In The Basic Technology - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

Sway Control function description

6.1 Activation of the AddOn technology "Sway Control" in the Basic
Technology
In the SIMOCRANE Basic Technology [Ref. 2; Chapters 4.3.4 and 4.3.5], there is an axis-
related Basic Technology mode called Sway Control which is used to activate the sway control
system.
When the Basic Technology mode Sway Control is active, the velocity output value is specified
by the sway control system. In this case, the Basic Technology does not specify the velocity
output value and no monitoring functions are active.
When the Basic Technology mode Sway Control is not active and one of the other Basic
Technology modes is active instead:
● The Basic Technology specifies the velocity output value and
● The Basic Technology executes the monitoring functions.
It is defined in the Basic Technology that switchover of the modes is only permitted when no
control is active for a drive (see the requirements below). The reason for this is to prevent jerky
movements when switching from any Basic Technology mode to the Basic Technology mode
Sway Control.
The Basic Technology mode Sway Control is selected for specific axes by the SIMATIC S7
controller in application control word 1, bit 15. The Basic Technology returns the state of the
Basic Technology mode Sway Control for specific axes in application status word 1, bit 15.
Other Basic Technology modes may not be selected (application control word 1, bit 9 to bit 14).
Switchover to the Basic Technology mode Sway Control is performed only when all the
conditions mentioned below are satisfied:
Requirements for the relevant drive:
1. Basic Technology mode Sway Control is selected
2. No error is present
3. No controller enable signal is present
4. Reference position approached (homing)
In SIMOTION D4x5-2 DP/PN, the Motion-In interface is activated when the Basic Technology
mode Sway Control is selected. This means the velocity setpoints are not transferred by the
travel commands to the technology object, but rather the velocity output value is transferred
directly from the AddOn technology to the technology object.
Note
Irrespective of whether or not the Basic Technology mode Sway Control is active, an additional
speed setpoint in mm/s for the hoist is available from the Basic Technology (DCC block
DCC_StartPulse). This prevents or reduces the "load sag" when starting the hoist with a
suspended load.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
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