Siemens SIMOTION D4x5-2 Manuals

Table of Contents

• • 3

    Preface
  • 5

    Table of Contents

• 13

  1 Fundamental Safety Instructions

  • 13

    General Safety Instructions Related to the Hardware
  • 14

    General Safety Instructions Related to Software
  • 14

    Warranty and Liability for Application Projects
  • 15

    Industrial Security
  • 16

    Additional Specific "Security Measures

• 17

  2 System Description

  • 17

    Introduction
  • 17

    System Overview
  • 17

    System Requirements and Design
  • 18

    Applications
  • 18

    Grab Ship Unloader (GSU) Without Camera Measuring System
  • 19

    STS Container Cranes with Camera Measuring System
  • 20

    Overview of Operating Modes, Functions and Required Licenses
  • 22

    Product Structure
  • 22

    Scope of Supply

• 25

  3 Overview of the Software

  • 25

    Application Projects
  • 25

    SCOUT Project GSU
  • 27

    SCOUT Project STS
  • 28

    Addon Software Structure
  • 28

    Structure of the SCOUT Part of the Project
  • 30

    Structure of the Function Module
  • 33

    Global Variables - Connection between the Components
  • 33

    Overview
  • 35

    Naming Scheme for the Unit-Global Variables
  • 35

    Addon Technology - Basic Technology
  • 36

    Addon Technology - Technology Objects
  • 37

    Polarity of Velocities and Position Values
  • 37

    Sway Control Function Blocks
  • 37

    Addon DCC Library
  • 38

    Dcc_Schoist
  • 40

    Dcc_Sctrolley
  • 42

    Dcc_Sctargets
  • 44

    Dcc_Scobstacles
  • 46

    Dcc_Sccamera
  • 48

    Dcc_Sctls2
  • 52

    Dcc_Scintpo
  • 54

    Dcc_Sccommon
  • 57

    Dcc_Scdiag
  • 58

    Addon FB Library
  • 58

    Fb_Commonplctoaddon
  • 60

    Fb_Commonaddontoplc
  • 61

    Fb_Hoistplctoaddon
  • 62

    Fb_Hoistaddontoplc
  • 63

    Fb_Trolleyplctoaddon
  • 65

    Fb_Trolleyaddontoplc
  • 66

    Fb_Intpoplctoaddon
  • 67

    Fb_Intpoaddontoplc
  • 68

    Fb_Tlsplctoaddon
  • 69

    Fb_Tlsaddontoplc
  • 70

    Fb_Targetsplctoaddon
  • 71

    Fb_Targetsaddontoplc
  • 73

    Fb_Obstacleplctoaddon
  • 74

    Fb_Obstacleaddontoplc
  • 75

    Fb_Adddataplctoaddon
  • 77

    Fb_Adddataaddontoplc
  • 79

    Fb_Receive_Analysis
  • 80

    Fb_Send_Preparation
  • 81

    Fb_Readwrite_Mv440

• 83

  4 Communication Interface to SIMATIC S7

  • 83

    SIMATIC S7 → SIMOTION D for Addon
  • 83

    Common
  • 86

    Hoist
  • 88

    Trolley
  • 90

    Intpo
  • 90

    Tls
  • 93

    Targets
  • 95

    Obstacles
  • 96

    Adddata
  • 97

    SIMOTION D for Addon → SIMATIC S7
  • 97

    Common
  • 100

    Hoist
  • 102

    Trolley
  • 104

    Intpo
  • 104

    Tls
  • 106

    Targets
  • 107

    Obstacles
  • 107

    Adddata

• 109

  5 Configuration

  • 109

    Requirement
  • 110

    Overview of the Configuring Steps to be Performed
  • 111

    Performing Setup
  • 111

    Importing the (SCOUT) Application Project of the Addon Technology
  • 112

    PROFINET Configuration
  • 112

    Configuring the Connection
  • 120

    General Information
  • 121

    Defining the Telegram
  • 121

    Copying the Address List
  • 123

    Copying the Addon FB Library
  • 126

    Copying MCC Source Files
  • 127

    Inserting DCC Blocks
  • 131

    Establishing the Connection between Basic Technology and Addon
  • 132

    Connection between Skew Damping Technology Object and DCC Block TLS2
  • 134

    Execution System
  • 134

    Saving, Compiling and Checking Consistency
  • 135

    Downloading the User Project to the CF Card
  • 138

    Transferring Language Files, Online Help Files, JAVA Files and Parameter Files to the CF Card
  • 140

    Creating the License Key and Downloading It to the CF Card
  • 141

    Communication Tests for the STS Application Project

• 147

  6 Sway Control Function Description

  • 147

    Activation of the Addon Technology "Sway Control" in the Basic Technology
  • 148

    Sway Control Operating Modes
  • 149

    Manual Mode (MAN)
  • 149

    Method of Operation
  • 150

    Activation
  • 150

    Control
  • 152

    Positioning (POS)
  • 152

    Method of Operation
  • 152

    Activation
  • 152

    Control
  • 155

    Semi-Automatic Mode (SAM)
  • 155

    Method of Operation
  • 155

    Activation
  • 155

    Control
  • 158

    Sway Neutralization Load Position (SNL)
  • 158

    Method of Operation
  • 158

    Activation
  • 158

    Control
  • 158

    Sway Neutralization Drive Position (SND)
  • 158

    Functional Principle
  • 159

    Control
  • 159

    Generating the TRAVEL Control Bit
  • 160

    Activating/Deactivating the "Sway Control" Function
  • 160

    Calculation of the Pendulum Deflection
  • 162

    Activating the "Sway Control" Function
  • 162

    Deactivating the "Sway Control" Function
  • 163

    Braking Distance Correction (S_Corr) Due to Influence of Sway Control
  • 163

    Drive Activation and Brake Control
  • 164

    Controlled Stop
  • 164

    Terminating a Travel Operation
  • 165

    Acceleration and Deceleration Behavior
  • 166

    Immersion Point
  • 166

    Internal Immersion Point
  • 169

    External Immersion Point
  • 170

    Blocked Regions
  • 170

    Definition of Terms
  • 174

    Fixed Blocked Regions
  • 174

    External Variable Blocked Regions
  • 176

    Internally Learned Variable Blocked Regions
  • 177

    Defining the Blocked Regions
  • 178

    Locking State of the Spreader as a Function of the Spreader Constellation
  • 178

    Spreader Constellations
  • 179

    Lock Bits
  • 180

    Forming Blocked Regions During the Learning Travel
  • 183

    Forming the Immersion Point During a Learning Travel
  • 185

    Collision Protection - Soft Approach
  • 185

    Soft Approach
  • 189

    Position-Dependent Monitoring Functions of Semi-Automatic Mode (SAM) / Manual Mode (MAN)
  • 192

    Velocity-Dependent Monitoring Functions before Semi-Automatic Mode Starts
  • 193

    Selection of the Control Method
  • 193

    Selection
  • 193

    Conventional Control
  • 194

    Time-Optimized Control
  • 194

    General Information
  • 194

    Relaxation Oscillations with GSU
  • 195

    Target Generator
  • 195

    Requirement
  • 196

    Parameterization
  • 196

    Control
  • 196

    Initialization
  • 196

    Loading or Unloading the Ship
  • 196

    Specifying Starting Position and Target Position
  • 199

    End of a Loading or Unloading Operation
  • 200

    Diagnostics
  • 201

    Automatic Target Specification
  • 203

    Offset for the Target Position
  • 204

    Bay Scanner
  • 204

    Using a Bay Scanner
  • 209

    Conversion of the Bay Scanner Values
  • 213

    Calculation of 2D Trajectory in Semi-Automatic Mode (SAM)
  • 217

    Sway Control Only When Stopping
  • 217

    Suppressing the Opposite Direction
    • 218

      Approaching the Waiting Position
    • 218

      Starting SAM Mode after a Manual Hoist Operation
    • 219

      Slack Rope
    • 219

      Override
    • 221

      Influencing the Lowering Point in SAM Travel from WS to LS
    • 221

      Hoist Takeover
    • 224

      Minimum Hoisting Height
    • 226

      Velocity for Automatic Lowering
    • 227

      Adjusting the Trajectory During Inclined Travel in SAM
    • 228

      Special Aspects of GSU Applications
    • 228

      Differences between STS and GSU
    • 229

      On-The-Fly Unloading
    • 229

      Use
    • 232

      Activating On-The-Fly Unloading
    • 233

      Influence of Parameters P75/P76 and P158 on the Trajectory
    • 235

      Procedure for Changing Targets over the Hopper

• 237

  7 TLS Control Function Description

  • 238

    Requirements
  • 238

    Mechanical Requirements for TLS with a Hydraulic System
  • 239

    Mechanical Requirements for TLS with a Hydraulic System and Electric Drive
  • 241

    TLS Modes and TLS Functions
  • 241

    Cylinder Jogging" Mode
  • 243

    Go to Zero Positions" Mode
  • 247

    TLS Jogging" Mode
  • 250

    TLS Positioning" Mode
  • 250

    Versions of "TLS Positioning" Mode
  • 252

    V1: Move to Internally Stored Trim, List and Skew Positions
  • 254

    V2: Move to Externally Defined Skew Position and Internally Stored Trim and List Positions
  • 255

    Skew Damping for Damping Skew Oscillation" Function
  • 255

    Skew Damping Via Electric Drive" Function
  • 258

    Skew Damping Via Cylinders" Function
  • 259

    Control of a Cylinder Movement
  • 259

    Controlling Movement of the Electric Drive
  • 260

    Control of the Modes and the Skew Damping for the Hydraulic System
  • 261

    Controlling Travel and Skew Damping with Electric Drive

• 263

  8 SIMOCRANE Cecomm Commissioning and Diagnostic Program

  • 263

    Installing
  • 264

    Design and Operation
  • 266

    Establishing a Connection to the Device
  • 267

    Menu Bar
  • 271

    Monitor (Tab)
  • 275

    Sway Control Monitors
  • 277

    TLS Monitors
  • 283

    Editing Addon Parameters
  • 283

    Overview
  • 284

    Call and Navigation in the Parameter Menus
  • 284

    Activating a Parameter Set
  • 285

    Editing a Parameter Set
  • 285

    Changing a Parameter
  • 286

    Copying a Parameter Set
  • 286

    Loading the Saved Parameter Sets
  • 286

    Saving All Sets of Parameters
  • 286

    Switching over Parameter Sets
  • 287

    Setting Default Values
  • 287

    More Functions
  • 288

    File Manager
  • 289

    Diagram - Trace Function
  • 290

    Procedure for Recording Diagrams
  • 293

    Elements and Functionality of the Diagram User Interface
  • 304

    X/Y Diagram
  • 306

    TLS Trace
  • 307

    Effective Pendulum Length
  • 309

    Logger
  • 309

    Introduction
  • 309

    Data Retention and Storage
  • 311

    Method of Operation
  • 313

    Special Situations
  • 313

    Handling the "Logger" Function in SIMOCRANE Cecomm
  • 317

    Display of Blocked Regions

• 319

  9 Commissioning Addon Software

  • 319

    Requirements
  • 319

    Communication of the Camera Measuring System Via Ethernet
  • 320

    Commissioning Requirements for Addon Software
  • 320

    General Requirements
  • 322

    Preparing the PLC Program
  • 322

    Preparing the Converters
  • 323

    Setting the Access Code
  • 323

    Setting the Language
  • 324

    Checking of the Communication between PLC and SIMOTION
  • 325

    Setting up FTP File Access
  • 328

    Sway Control Commissioning
  • 328

    Method of Operation of Sway Control
  • 331

    Commissioning the Sway Control System
  • 331

    Commissioning Steps in the Commissioning Menu
  • 337

    Selection of the Control Method
  • 337

    Effective Pendulum Length Correction
  • 339

    Setting the Permissible Residual Sway
  • 339

    Settings to Monitor the Oscillation State
  • 339

    Setting the Damping Factor
  • 340

    Defining the Activation Velocity and on Delay
  • 340

    Setting the Time Constants for Trolley (P153) and Hoist (P154)
  • 342

    Commissioning Positioning Mode (POS)
  • 342

    Selecting External and Internal Targets
  • 343

    Changing the Coordinate System
  • 345

    Position Controller Setting
  • 346

    Other Settings
  • 347

    Commissioning Semi-Automatic (SAM) Mode
  • 349

    On-The-Fly Unloading, GSU Only
  • 350

    Commissioning TLS (Hydraulic System)
  • 350

    System Requirements
  • 351

    Activating the TLS Functions
  • 351

    Parameterization of the Actual Positions
  • 352

    Parameterizing "Cylinder Jogging" Mode
  • 354

    Parameterization of the Central Positions of the Cylinders
  • 356

    TLS Inching and Go to Zero Positions
  • 357

    Conversion of Cylinder Positions, Angle of Rotation
  • 357

    Calculating the Effective Pendulum Length for the Skew Oscillation
  • 360

    Monitoring the Camera Measuring System
  • 361

    Parameterization of Observer
  • 361

    Activates the "Skew Damping" Function
  • 361

    Optional Adaptations
  • 362

    Commissioning TLS (Hydraulic System with Electric Drive)
  • 362

    System Requirements
  • 363

    Commissioning Cylinders
  • 363

    Evaluation of the Current Position of the Skew Drive Spindle
  • 364

    Position Controller Setting (P328)
  • 365

    Setting the Limit for Set Position P324
  • 365

    Kinematic Transformation of Skew Drive Position, Angle of Rotation
  • 366

    Parameterization of Skew Damping
  • 367

    Commissioning TLS (Skew Damping with Electric Drive Only)
  • 367

    System Requirements
  • 368

    Activation of TLS Function and Skew Drive
  • 368

    Commissioning Cylinders and Electric Drive

• 369

  10 Alarm, Error, and System Messages

  • 369

    Following Error Monitoring
  • 370

    Velocity Monitoring
  • 371

    Monitoring of Start of Sway Control
  • 371

    Monitoring the Oscillation State
  • 372

    Monitoring of Excessive Oscillations
  • 372

    Monitoring of the Sway Control System
  • 373

    Error Messages
  • 373

    General Information
  • 373

    SIMOCRANE Censor Error List
  • 374

    Error List Addon
  • 374

    Overview
  • 374

    Brief Description
  • 376

    General and Severe Errors
  • 379

    Error in the Limit or Prelimit Switch Area
  • 380

    Error in Semi-Automatic Mode
  • 384

    Other Errors 1
  • 385

    Other Errors 2
  • 387

    SIMOCRANE Cecomm Diagnostic Program
  • 387

    Troubleshooting/Faqs
  • 387

    Error List TLS

• 393

  11 Parameters

  • 393

    Overview of the Parameter List
  • 393

    Trolley
  • 400

    Hoist
  • 407

    Sway Control System
  • 408

    General
  • 412

    Camera Measuring System/Reflector
  • 413

    Travel Characteristic
  • 418

    Controlled Variables
  • 420

    Tls

• 435

  Appendix

  • 435

    Service and Maintenance
  • 435

    References
  • 436

    List of Abbreviations
  • 437

    Assignment of Signal Names
  • 437

    Variable Signals
  • 443

    Glossary