Defining The Activation Velocity And On Delay; Setting The Time Constants For Trolley (P153) And Hoist (P154) - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

Commissioning AddOn Software
9.4 Sway control commissioning
9.4.2.7

Defining the activation velocity and ON delay

The sway control function is activated only when the activation velocity (P146) and sway control
ON delay (P147) are reached. It is recommended that both parameters be left at zero.
For the activation velocity, a hysteresis of ± 5% applies to prevent continuous activation and
deactivation of the sway control system.
9.4.2.8

Setting the time constants for trolley (P153) and hoist (P154)

Depending on the controlled system, there is always a time delay between the generated
output velocity and the measured actual value in the sway control system. This time delay
results from the processing time in the control system (PLC, SIMOTION D4X5-2), the drives
and sensors, and the reaction time of all components. That influences the overshoot behavior.
The time delay can be compensated for by parameter P153 for the trolley and parameter P154
for the hoist.
Note
Settings of between 50 ms and 350 ms have generally proved correct for P153 and P154.
Ensuring that these time delays are set to the correct value has a significant influence on the
quality of the sway control system, so it is important that they are always measured as
described in the chapter.
Measuring the delay times for P153 (trolley)
You can measure the delay times by recording a trace of the two values V_POS and V_ACT
(V_POS = interpolated set velocity (internal value) / V_ACT = actual velocity).
When P153 is set correctly, the value V_REF_delayed will have the same time delay as V_ACT
(V_REF = interpolated output velocity (output value)).
A prolonged period of acceleration or deceleration when the sway control system is deactivated
is the ideal condition for taking the measurements.
● V_POS = interpolated set velocity (internal value)
● V_REF = interpolated output velocity (output value)
● V_ACT = actual velocity
First measurement trace
Parameter P153 is still set to zero.
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SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA