Adjusting The Trajectory During Inclined Travel In Sam - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

container is still placed at a reduced velocity. Travel must be terminated immediately after
landing in order to avoid excessive slack rope.
Note
If the target of the trolley is suddenly changed to the opposite direction when leaving or reaching
limit line P66, P67 or P70, inclined travel can occur briefly immediately below the limit line.
Note
Starting travel in semi-automatic mode (SAM) below limit line P66, P67 or P70 always results
in the hoist being lifted as far as the limit line, even if the target is further down.
6.26

Adjusting the trajectory during inclined travel in SAM

Depending on the blocked region, the start position and the target position, it may happen that
the travel curve lies below the trajectory or interpolation point straight line during lowering travel
in SAM. The hoist therefore reaches its target faster than the trolley. Although the blocked
regions continue to be taken into account, this can be very unsettling for the crane driver.
Parameters P112 and P113 can be used to remedy the situation. P112 is a percentage factor
for lowering velocity and P113 defines the operative range of P112. They can be used to reduce
the lowering velocity of the hoist for a specified travel range, thus ensuring that the travel curve
remains above the interpolation point straight line.
Example:
● P112 = 50%: The lowering velocity is reduced to 50% as soon as the actual position of the
hoist lies below the interpolation point straight line.
● P113 = 30%: Reducing the lowering velocity is only possible from the starting point of
lowering to 30% of the trolley path.
The function is not operative in the following cases:
● The path defined as a percentage in P113 has already been traveled or
● The actual position of the hoist is always above the interpolation point straight line.
The diagram below illustrates the behavior with and without adjustment. If no adjustment is to
be made, the trolley crosses the blocked region on its own at the end, as the hoist has already
reached its target. If an adjustment is to be made, the adjustment is activated when the position
undershoot is detected and the actual position is moved to above the interpolation point straight
line.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
6.26 Adjusting the trajectory during inclined travel in SAM
Sway Control function description
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