Parameterization Of Skew Damping - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

Commissioning AddOn Software
9.6 Commissioning TLS (hydraulic system with electric drive)
Calculation of the transformation factor P327
It is important to set parameter P327 correctly in order to ensure proper functioning of the skew-
damping system. The following procedure is recommended:
1. Move the hydraulic system and the skew drive into their zero positions in such a way that
– the spreader is not rotated and
– the container is aligned horizontally with the ground, i.e. the trim, list and skew
2. Once the skew oscillation has settled, perform the following steps:
– Save the zero position at this position.
– Note the current camera angle (psi_cam) as cam1 [cgr].
– Note the current position of the skew drive s_act_SkA as skew1 [mm].
3. Rotate the spreader with the skew drive.
Once the skew oscillation has settled, perform the following steps:
– s_act_SkA as skew2 [mm]
– current camera angle psi_cam as cam2 [cgr]
4. Calculate parameter P327
P327 = (cam2 - cam1) : (skew2 - skew1)
5. Repeat steps 1 to 4 at the same hoisting height, but with other angles of rotation for the
purpose of verification.
Every test should produce approximately the same value for P327.
9.6.7

Parameterization of skew damping

Perform the following steps:
1. See Chapter Calculating the effective pendulum length for the skew oscillation (Page 357)
2. See Chapter Monitoring the camera measuring system (Page 360)
3. See Chapter Parameterization of observer (Page 361)
4. See Chapter Activates the "skew damping" function (Page 361)
5. See Chapter Optional adaptations (Page 361)
366
components are zero.
We recommend taking an average from the trace of value psi_cam, since spreaders
always exhibit slight skew oscillation in practice and this is difficult to detect on the
display monitor.
This value should also be approximately zero in the zero position.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA