Table of contents
Preface .........................................................................................................................................................3
1 Fundamental safety instructions.................................................................................................................13
1.1 General safety instructions related to the hardware...............................................................13
1.2 General safety instructions related to software ......................................................................14
1.3 Warranty and liability for application projects.........................................................................14
1.4 Industrial security ...................................................................................................................15
1.5 Additional specific "security measures"..................................................................................16
2 System description .....................................................................................................................................17
2.1 Introduction ............................................................................................................................17
2.2 System overview ...................................................................................................................17
2.2.1 System requirements and design...........................................................................................17
2.2.2 Applications............................................................................................................................18
2.2.2.1 Grab ship unloader (GSU) without camera measuring system..............................................18
2.2.2.2 STS container cranes with camera measuring system ..........................................................19
2.2.3 Overview of operating modes, functions and required licenses.............................................20
2.2.4 Product structure....................................................................................................................22
2.3 Scope of supply......................................................................................................................22
3 Overview of the software ............................................................................................................................25
3.1 Application projects ................................................................................................................25
3.1.1 SCOUT project GSU ..............................................................................................................25
3.1.2 SCOUT project STS...............................................................................................................27
3.2 AddOn software structure ......................................................................................................28
3.2.1 Structure of the SCOUT part of the project ............................................................................28
3.2.2 Structure of the function module ............................................................................................30
3.2.3 Global variables - connection between the components........................................................33
3.2.3.1 Overview ................................................................................................................................33
3.2.3.2 Naming scheme for the unit-global variables .........................................................................35
3.2.3.3 AddOn technology – Basic Technology .................................................................................35
3.2.3.4 AddOn technology – technology objects ................................................................................36
3.2.3.5 Polarity of velocities and position values................................................................................37
3.3 Sway control function blocks..................................................................................................37
3.3.1 AddOn DCC library ................................................................................................................37
3.3.1.1 DCC_SCHOIST......................................................................................................................38
3.3.1.2 DCC_SCTROLLEY ................................................................................................................40
3.3.1.3 DCC_SCTARGETS................................................................................................................42
3.3.1.4 DCC_SCOBSTACLES ...........................................................................................................44
3.3.1.5 DCC_SCCAMERA .................................................................................................................46
3.3.1.6 DCC_SCTLS2 ........................................................................................................................48
3.3.1.7 DCC_SCINTPO......................................................................................................................52
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA 5
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