Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual page 256

TLS control function description
7.2 TLS modes and TLS functions
electric drive) (Page 362) and Commissioning TLS (skew damping with electric drive only)
(Page 367)).
The "skew damping via electric drive" function is activated via the "as_on" control bit
(STW1_PLC_TLS, bit 15) and is operative in all TLS modes except for "Cylinder jogging".
Note
Rotation of the spreader during skew damping
For both TLS functions "skew damping via cylinders" and "skew damping via electric drive", the
rotation of the spreader must be acquired by the camera measuring system (e.g. SIMOCRANE
CenSOR) for comparison with an internal oscillation model. In the case of skew damping, both
the rotation and the velocity of rotation of the camera measuring system are used.
The quality of skew oscillation compensation also depends on the quality of the camera signal:
The greater the noise in the camera signal, the larger the minimum angle to which the system
can damp the oscillations.
Please take this fact into account, especially when setting parameter P301. The value should
be larger than the maximum signal noise so that the "skew_removed" status bit
(ZSW1_PLC_TLS, bit 14) is set at the end of compensation.
The commissioning mode for the electric drive is described below.
Commissioning mode of electric skew drive
Figure 7-13
Section 1:
Select the "Skew damping via electric drive" function by setting the "mode_comm" control bit
(STW1_PLC_TLS, bit 6).
256
Signal sequence for starting movement of the electric drive in the "skew damping via
electric drive" function
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA