Approaching The Waiting Position; Starting Sam Mode After A Manual Hoist Operation - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

Sway Control function description

6.19 Starting SAM mode after a manual hoist operation

Before time A (see at approx. 14 s in the figure), the output velocity (blue) is less than 50%
(green). "rV_POS_TR" (blue), like "rV_SET_TR" (red), can only be negative during this period.
A waiting time (B) therefore results until sway is eliminated. Only when the output velocity is
once greater than 50% will the opposite direction be released (C).
Note
The parameter P141 only has a meaning in MAN mode.
Note
During approach (first movement, after the TRAVEL control bit has been set), the opposite
direction is always suppressed.
6.18

Approaching the waiting position

In semi-automatic mode (SAM), the travel movements can be interrupted at one of the positions
specified with parameters (P25, P65), provided the NO_WAIT_POS control bit is not set.
● Waiting position P25 of the trolley must be between the starting point and the target of the
trolley.
● If the waiting position of the hoist P65 is higher than the target position, the hoist travels to
the highest interpolation point position and then stops at waiting position P25 (trolley).
That is the normal case and has the advantage that the hoist is not lifted or lowered
unnecessarily.
● Waiting position P65 (hoist) is only approached if P65 is lower than the highest interpolation
point position.
The hoist is then lowered to P65 if the difference between the actual position and the waiting
position of the trolley is less than one spreader width P106 and if the actual position of the
hoist is greater than P65.
This is rarely the case.
If the NO_WAIT_POS control bit is set before the waiting position is reached, travel will be
continued to the target position without interruption.
During travel in semi-automatic mode (SAM), the confirmation "POS_COMPLETED" is
returned if the distance between the actual position and the target position is less than the
positioning accuracy. If "NO_WAIT_POS" is not set and the waiting position is therefore
activated, the waiting position is transferred as the new target position. When the waiting
position is reached, the POS_COMPLETED status bit is therefore set and reset once again if
the waiting position is deselected.
6.19 Starting SAM mode after a manual hoist operation
The crane driver can initiate travel in semi-automatic mode (SAM) during manual hoisting. In
this way, the crane driver can first lift the spreader out of a hazardous area and then switch the
control to semi-automatic mode without stopping.
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SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA