Control; Generating The Travel Control Bit - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

6.2.5.3

Control

The control of SND mode is similar to the Control (Page 152) of POS mode.
6.3

Generating the TRAVEL control bit

Danger to life due to unexpected machine movement
When the TRAVEL control bit is set, unexpected movements which may result in injury or
death can occur after the crane has reached the stationary state.
Cancellation by the sway control may be triggered by the control bits RELEASE,
BRAKE_CLOSED, CONTROLLED_STOP, and all limit switches.
The TRAVEL control bit must be reset by the crane control system in the event of an
EMERGENCY STOP or cancellation of continued travel.
Travel is started in all operating modes by setting the TRAVEL control bit.
The TRAVEL control bit may then be set in the crane control system if all conditions required
to start travel are met, or if there is no state intended to prevent travel (e.g. EMERGENCY
STOP activated).
If this is the case, then the TRAVEL control bit can be set as soon as a corresponding actuator
is activated by the crane driver (e.g. master switch in manual mode or start button / foot-
operated switch in the positioning and semi-automatic modes).
The TRAVEL control bit must be reset if a state occurs during travel which is intended to prevent
continued travel. The crane is then stopped at the maximum deceleration rate without sway
control.
If the travel can be completed without a fault, the TRAVEL control bit should be reset with the
POS_COMPLETED status bit. The travel is then completed with no residual sway and the
target position is reached in POS and SAM modes.
MAN mode
When the master switch is operated, the set velocity (rV_Set_TR) is transferred to the
sway control; the TRAVEL control bit must be set simultaneously. When the master switch is
released, the set velocity is set to zero; however, the TRAVEL control bit must remain set until
the sway control sets the POS_COMPLETED status bit.
Fault value suppression for the set velocity in MAN mode
In order to prevent unintended movements, any possible fault values in the crane control
system must be excluded when the set velocity = 0. This can be achieved as follows, for
example:
If the set velocity is less than a certain value (e.g. 0.5%), the value 0 is transferred to the sway
control.
This measure should be implemented for set velocities rV_Set_TR and rV_Set_HO.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
WARNING
Sway Control function description
6.3 Generating the TRAVEL control bit
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