Sway Control Commissioning; Method Of Operation Of Sway Control - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

Commissioning AddOn Software

9.4 Sway control commissioning

9.4 Sway control commissioning
9.4.1

Method of operation of sway control

Once all the requirements (see Commissioning requirements for AddOn software (Page 320))
have been met, you can start with the commissioning.
Parameterization during commissioning is performed using the SIMOCRANE CeCOMM
diagnostic program. (For information, see Editing AddOn parameters (Page 283).)
The sway control system receives the pendulum deflection value from the camera measuring
system. The measuring signal is checked with various algorithms and corrected if required. If
the measuring signal fails, then the actual states of a mathematical calculation model are used
instead.
Note
The acceleration and deceleration (braking) ramps can vary significantly. They depend on the
initial sway and the pendulum length.
The sway control system has the following features:
● Load sway is eliminated when a steady velocity is reached or in the stationary state
● In positioning mode, the load only overshoots the chosen target position by a very small
amount
The sway control system calculates output velocity values that are forwarded to the drives
using technology objects.
Dynamic prelimit switches
With dynamic prelimit switches, the drives are decelerated to the prelimit switch velocity
depending on the position and velocity.
In contrast to fixed prelimit switches, the drives are braked at various positions. This position is
dependent on the current velocity. In other words, if the drive is traveling at low velocity, it can
be decelerated much later to reach the prelimit switch velocity at the positions programmed via
parameters (P24, P27, P64, P68).
The following figures use two different velocities to illustrate the operation of the dynamic
prelimit switches:
P115: 1 (configuration prelimit switch)
P24: 6000 mm (position for prelimit switch velocity trolley backward)
P27: 95000 mm (position for prelimit switch velocity trolley forward)
P0: 3500 mm/s (maximum output velocity of the trolley)
328
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA