Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual page 191

Variable blocked region SAM
If the actual position is in the obstacle of a variable blocked region (red) when travel starts in
SAM mode, a travel request is nevertheless executed and error message E36 "Starting point
in variable blocked region (SAM)" is output. In this case, hoisting is performed until the hoist
position is above the blocked region. The sway control system is deactivated internally during
this phase to avoid possible collisions with adjacent obstacles (e.g. containers).
If the actual position is in the safety clearance (yellow) of a variable blocked region when travel
starts in SAM mode, the reaction is identical. E36 is not output however; the status bit
POS_IN_SAFETY_AREA is set instead.
If the blocked region is too high (determined by P69), travel in SAM mode is started neither in
the obstacle nor in the safety clearance. Instead, error message E30 "No path found" is output.
If the target position is located in a variable blocked region, a point is approached that is located
outside the blocked region and vertically above the original target.
If the blocked region is too high (determined by P69 Maximum position for hoist positioning) and
a target position above the blocked region is not possible, the target position for the hoist is not
changed. The target position for the trolley is changed (internally) such that the new target
position is located before the blocked region. Error message E30 "No path found" is also output
in this case.
Variable blocked region MAN
If the actual position is located in a blocked region, the velocity is reduced to P16/P56 and the
status bit POS_IN_BR_MAN is set. If the target position is located in a blocked region, travel can
be performed normally as far as the blocked region. The set velocity is automatically limited
before the blocked region and the blocked region is entered at reduced velocity.
Note
In manual mode (MAN), target position describes the position to which one wishes to travel
manually. Limitation only occurs in MAN mode if blocked regions are activated in manual mode
(MAN). Entering a target in MAN mode has no effect.
Note
Only the set velocity is limited in a variable blocked region. Due to intervention by the sway
control system however, the output velocity can become greater than the set velocity or P16.
In order to limit the output velocity as well, either the override can be reduced or the sway
control can be switched off completely while POS_IN_BR_MAN is active.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
Sway Control function description
6.11 Collision protection - soft approach
191