Semi-Automatic Mode (Sam); Method Of Operation; Activation; Control - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

6.2.3

Semi-automatic mode (SAM)

6.2.3.1

Method of operation

Semi-automatic mode (SAM) permits automatic movement of the trolley and hoist along a
trajectory. In SAM mode, the blocked regions are taken into account in the trajectory
calculation. Load sway is eliminated when a steady velocity is reached or in the stationary state.
SAM can prevent collisions with obstacles.
This mode of operation is based on obstacles or blocked regions (see Blocked regions
(Page 170)) that can be defined within the working range of the crane. Obstacles can be
defined during commissioning, transferred from the PLC, or learned during travel. Travel is
permitted only outside these blocked regions. Depending on the starting point and the target
position, the fastest possible travel path is generated from the data about the blocked regions.
A parking position, a lashing position and several lane positions can also be learned and
specified as the target position.
If a bay scanner is used, the obstacle height measured with it is also evaluated and is included
in the trajectory calculation (see Chapters Using a bay scanner (Page 204) and Conversion of
the bay scanner values (Page 209)).
The controller possesses useful functions such as pre-limit and limit shutdown or the
consideration of reduced velocities for large loads.
6.2.3.2

Activation

The "Semi-automatic mode" (SAM) is activated by setting the control bit "SAM"
(STW1_PLC_Trolley, STW1_PLC_Hoist) on both drives.
6.2.3.3

Control

In this mode, the TRAVEL control bit is triggered by a start signal in the higher-level control (e.g.
by means of a foot-operated switch, referred to as "automatic start" here). The system checks
whether it is possible to start in this operating mode. The reasons why a start should not be
performed can be read out of the status bits INFO_NO_AUTO_START. If one of these
conditions is met, the status bit START_AUTO_OK (bit 5, ZSW1_Common_PLC) is not set. A
start should not be performed until this bit is set.
Note
If the START_AUTO_OK status bit is not used for starting, the PLC programmer must provide
suitable monitoring of the conditions listed in "INFO_NO_AUTO_START" (Page 99).
The positioning velocity of the trolley and the hoist is determined by parameters P1 and P41
respectively.
If a direction signal is set, the appropriate drive can be activated and subsequently the brake
opened in the higher-level control system. While the brake is closed, no output velocity value
is provided. The TRAVEL control bit can be reset if the POS_COMPLETED status bit is set.
Various setpoints and actual values can be checked during travel in the display screen "Semi-
automatic mode (SAM) [6]".
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
Sway Control function description
6.2 Sway Control operating modes
155