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SIMOTION D4x5-2 DP/PN
Siemens SIMOTION D4x5-2 DP/PN User Manual
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SIMOCRANE
SC integrated STS, GSU
Operating Instructions
valid for:
SIMOCRANE SC integrated STS, GSU
V3.0
07/2019
A5E48271265B AA
Preface
Fundamental safety
instructions
1
System description
2
Overview of the software
3
Communication interface to
SIMATIC S7
4
Configuration
5
Sway Control function
description
6
TLS control function
description
7
SIMOCRANE CeCOMM
commissioning and
diagnostic program
8
Commissioning AddOn
Software
9
Alarm, error, and system
messages
10
Parameters
11
Appendix
A
2
Table of Contents
Default Chapter
3
Preface
3
Table of Contents
5
1 Fundamental Safety Instructions
13
General Safety Instructions Related to the Hardware
13
General Safety Instructions Related to Software
14
Warranty and Liability for Application Projects
14
Industrial Security
15
Additional Specific "Security Measures
16
2 System Description
17
Introduction
17
System Overview
17
System Requirements and Design
17
Applications
18
Grab Ship Unloader (GSU) Without Camera Measuring System
18
STS Container Cranes with Camera Measuring System
19
Overview of Operating Modes, Functions and Required Licenses
20
Product Structure
22
Scope of Supply
22
3 Overview of the Software
25
Application Projects
25
SCOUT Project GSU
25
SCOUT Project STS
27
Addon Software Structure
28
Structure of the SCOUT Part of the Project
28
Structure of the Function Module
30
Global Variables - Connection between the Components
33
Overview
33
Naming Scheme for the Unit-Global Variables
35
Addon Technology - Basic Technology
35
Addon Technology - Technology Objects
36
Polarity of Velocities and Position Values
37
Sway Control Function Blocks
37
Addon DCC Library
37
Dcc_Schoist
38
Dcc_Sctrolley
40
Dcc_Sctargets
42
Dcc_Scobstacles
44
Dcc_Sccamera
46
Dcc_Sctls2
48
Dcc_Scintpo
52
Dcc_Sccommon
54
Dcc_Scdiag
57
Addon FB Library
58
Fb_Commonplctoaddon
58
Fb_Commonaddontoplc
60
Fb_Hoistplctoaddon
61
Fb_Hoistaddontoplc
62
Fb_Trolleyplctoaddon
63
Fb_Trolleyaddontoplc
65
Fb_Intpoplctoaddon
66
Fb_Intpoaddontoplc
67
Fb_Tlsplctoaddon
68
Fb_Tlsaddontoplc
69
Fb_Targetsplctoaddon
70
Fb_Targetsaddontoplc
71
Fb_Obstacleplctoaddon
73
Fb_Obstacleaddontoplc
74
Fb_Adddataplctoaddon
75
Fb_Adddataaddontoplc
77
Fb_Receive_Analysis
79
Fb_Send_Preparation
80
Fb_Readwrite_Mv440
81
4 Communication Interface to SIMATIC S7
83
SIMATIC S7 → SIMOTION D for Addon
83
Common
83
Hoist
86
Trolley
88
Intpo
90
Tls
90
Targets
93
Obstacles
95
Adddata
96
SIMOTION D for Addon → SIMATIC S7
97
Common
97
Hoist
100
Trolley
102
Intpo
104
Tls
104
Targets
106
Obstacles
107
Adddata
107
5 Configuration
109
Requirement
109
Overview of the Configuring Steps to be Performed
110
Performing Setup
111
Importing the (SCOUT) Application Project of the Addon Technology
111
PROFINET Configuration
112
Configuring the Connection
112
General Information
120
Defining the Telegram
121
Copying the Address List
121
Copying the Addon FB Library
123
Copying MCC Source Files
126
Inserting DCC Blocks
127
Establishing the Connection between Basic Technology and Addon
131
Connection between Skew Damping Technology Object and DCC Block TLS2
132
Execution System
134
Saving, Compiling and Checking Consistency
134
Downloading the User Project to the CF Card
135
Transferring Language Files, Online Help Files, JAVA Files and Parameter Files to the CF Card
138
Creating the License Key and Downloading It to the CF Card
140
Communication Tests for the STS Application Project
141
6 Sway Control Function Description
147
Activation of the Addon Technology "Sway Control" in the Basic Technology
147
Sway Control Operating Modes
148
Manual Mode (MAN)
149
Method of Operation
149
Activation
150
Control
150
Positioning (POS)
152
Method of Operation
152
Activation
152
Control
152
Semi-Automatic Mode (SAM)
155
Method of Operation
155
Activation
155
Control
155
Sway Neutralization Load Position (SNL)
158
Method of Operation
158
Activation
158
Control
158
Sway Neutralization Drive Position (SND)
158
Functional Principle
158
Control
159
Generating the TRAVEL Control Bit
159
Activating/Deactivating the "Sway Control" Function
160
Calculation of the Pendulum Deflection
160
Activating the "Sway Control" Function
162
Deactivating the "Sway Control" Function
162
Braking Distance Correction (S_Corr) Due to Influence of Sway Control
163
Drive Activation and Brake Control
163
Controlled Stop
164
Terminating a Travel Operation
164
Acceleration and Deceleration Behavior
165
Immersion Point
166
Internal Immersion Point
166
External Immersion Point
169
Blocked Regions
170
Definition of Terms
170
Fixed Blocked Regions
174
External Variable Blocked Regions
174
Internally Learned Variable Blocked Regions
176
Defining the Blocked Regions
177
Locking State of the Spreader as a Function of the Spreader Constellation
178
Spreader Constellations
178
Lock Bits
179
Forming Blocked Regions During the Learning Travel
180
Forming the Immersion Point During a Learning Travel
183
Collision Protection - Soft Approach
185
Soft Approach
185
Position-Dependent Monitoring Functions of Semi-Automatic Mode (SAM) / Manual Mode (MAN)
189
Velocity-Dependent Monitoring Functions before Semi-Automatic Mode Starts
192
Selection of the Control Method
193
Selection
193
Conventional Control
193
Time-Optimized Control
194
General Information
194
Relaxation Oscillations with GSU
194
Target Generator
195
Requirement
195
Parameterization
196
Control
196
Initialization
196
Loading or Unloading the Ship
196
Specifying Starting Position and Target Position
196
End of a Loading or Unloading Operation
199
Diagnostics
200
Automatic Target Specification
201
Offset for the Target Position
203
Bay Scanner
204
Using a Bay Scanner
204
Conversion of the Bay Scanner Values
209
Calculation of 2D Trajectory in Semi-Automatic Mode (SAM)
213
Sway Control Only When Stopping
217
Suppressing the Opposite Direction
217
Approaching the Waiting Position
218
Starting SAM Mode after a Manual Hoist Operation
218
Slack Rope
219
Override
219
Influencing the Lowering Point in SAM Travel from WS to LS
221
Hoist Takeover
221
Minimum Hoisting Height
224
Velocity for Automatic Lowering
226
Adjusting the Trajectory During Inclined Travel in SAM
227
Special Aspects of GSU Applications
228
Differences between STS and GSU
228
On-The-Fly Unloading
229
Use
229
Activating On-The-Fly Unloading
232
Influence of Parameters P75/P76 and P158 on the Trajectory
233
Procedure for Changing Targets over the Hopper
235
7 TLS Control Function Description
237
Requirements
238
Mechanical Requirements for TLS with a Hydraulic System
238
Mechanical Requirements for TLS with a Hydraulic System and Electric Drive
239
TLS Modes and TLS Functions
241
Cylinder Jogging" Mode
241
Go to Zero Positions" Mode
243
TLS Jogging" Mode
247
TLS Positioning" Mode
250
Versions of "TLS Positioning" Mode
250
V1: Move to Internally Stored Trim, List and Skew Positions
252
V2: Move to Externally Defined Skew Position and Internally Stored Trim and List Positions
254
Skew Damping for Damping Skew Oscillation" Function
255
Skew Damping Via Electric Drive" Function
255
Skew Damping Via Cylinders" Function
258
Control of a Cylinder Movement
259
Controlling Movement of the Electric Drive
259
Control of the Modes and the Skew Damping for the Hydraulic System
260
Controlling Travel and Skew Damping with Electric Drive
261
8 SIMOCRANE Cecomm Commissioning and Diagnostic Program
263
Installing
263
Design and Operation
264
Establishing a Connection to the Device
266
Menu Bar
267
Monitor (Tab)
271
Sway Control Monitors
275
TLS Monitors
277
Editing Addon Parameters
283
Overview
283
Call and Navigation in the Parameter Menus
284
Activating a Parameter Set
284
Editing a Parameter Set
285
Changing a Parameter
285
Copying a Parameter Set
286
Loading the Saved Parameter Sets
286
Saving All Sets of Parameters
286
Switching over Parameter Sets
286
Setting Default Values
287
More Functions
287
File Manager
288
Diagram - Trace Function
289
Procedure for Recording Diagrams
290
Elements and Functionality of the Diagram User Interface
293
X/Y Diagram
304
TLS Trace
306
Effective Pendulum Length
307
Logger
309
Introduction
309
Data Retention and Storage
309
Method of Operation
311
Special Situations
313
Handling the "Logger" Function in SIMOCRANE Cecomm
313
Display of Blocked Regions
317
9 Commissioning Addon Software
319
Requirements
319
Communication of the Camera Measuring System Via Ethernet
319
Commissioning Requirements for Addon Software
320
General Requirements
320
Preparing the PLC Program
322
Preparing the Converters
322
Setting the Access Code
323
Setting the Language
323
Checking of the Communication between PLC and SIMOTION
324
Setting up FTP File Access
325
Sway Control Commissioning
328
Method of Operation of Sway Control
328
Commissioning the Sway Control System
331
Commissioning Steps in the Commissioning Menu
331
Selection of the Control Method
337
Effective Pendulum Length Correction
337
Setting the Permissible Residual Sway
339
Settings to Monitor the Oscillation State
339
Setting the Damping Factor
339
Defining the Activation Velocity and on Delay
340
Setting the Time Constants for Trolley (P153) and Hoist (P154)
340
Commissioning Positioning Mode (POS)
342
Selecting External and Internal Targets
342
Changing the Coordinate System
343
Position Controller Setting
345
Other Settings
346
Commissioning Semi-Automatic (SAM) Mode
347
On-The-Fly Unloading, GSU Only
349
Commissioning TLS (Hydraulic System)
350
System Requirements
350
Activating the TLS Functions
351
Parameterization of the Actual Positions
351
Parameterizing "Cylinder Jogging" Mode
352
Parameterization of the Central Positions of the Cylinders
354
TLS Inching and Go to Zero Positions
356
Conversion of Cylinder Positions, Angle of Rotation
357
Calculating the Effective Pendulum Length for the Skew Oscillation
357
Monitoring the Camera Measuring System
360
Parameterization of Observer
361
Activates the "Skew Damping" Function
361
Optional Adaptations
361
Commissioning TLS (Hydraulic System with Electric Drive)
362
System Requirements
362
Commissioning Cylinders
363
Evaluation of the Current Position of the Skew Drive Spindle
363
Position Controller Setting (P328)
364
Setting the Limit for Set Position P324
365
Kinematic Transformation of Skew Drive Position, Angle of Rotation
365
Parameterization of Skew Damping
366
Commissioning TLS (Skew Damping with Electric Drive Only)
367
System Requirements
367
Activation of TLS Function and Skew Drive
368
Commissioning Cylinders and Electric Drive
368
10 Alarm, Error, and System Messages
369
Following Error Monitoring
369
Velocity Monitoring
370
Monitoring of Start of Sway Control
371
Monitoring the Oscillation State
371
Monitoring of Excessive Oscillations
372
Monitoring of the Sway Control System
372
Error Messages
373
General Information
373
SIMOCRANE Censor Error List
373
Error List Addon
374
Overview
374
Brief Description
374
General and Severe Errors
376
Error in the Limit or Prelimit Switch Area
379
Error in Semi-Automatic Mode
380
Other Errors 1
384
Other Errors 2
385
SIMOCRANE Cecomm Diagnostic Program
387
Troubleshooting/Faqs
387
Error List TLS
387
11 Parameters
393
Overview of the Parameter List
393
Trolley
393
Hoist
400
Sway Control System
407
General
408
Camera Measuring System/Reflector
412
Travel Characteristic
413
Controlled Variables
418
Tls
420
Appendix
435
Service and Maintenance
435
References
435
List of Abbreviations
436
Assignment of Signal Names
437
Variable Signals
437
Glossary
443
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Siemens SIMOTION D4x5-2 DP/PN Specifications
General
Brand
Siemens
Model
SIMOTION D4x5-2 DP/PN
Category
Construction Equipment
Language
English
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