Table of contents
SC integrated OHBC, Gantry crane
Operating Instructions, 02/2014 9
9.1 Commissioning prerequisites ..................................................................................................... 167
9.1.1 General ...................................................................................................................................... 167
9.1.2 Load measurement .................................................................................................................... 167
9.1.3 Position sensing ......................................................................................................................... 167
9.1.4 Sway control components .......................................................................................................... 167
9.2 Preparing commissioning ........................................................................................................... 168
9.2.1 Preparation of the user project and the SIMATIC S7 ................................................................ 168
9.2.1.1 Integrating the AddOn sway control system .............................................................................. 168
9.2.1.2 Commissioning the SIMATIC S7 sample blocks ....................................................................... 168
9.2.2 Preparing the SIMOCRANE CenSOR camera measuring system ............................................ 168
9.3 Configuring the AddOn sway control system ............................................................................. 169
9.3.1 Overview .................................................................................................................................... 169
9.3.2 General preconditions ................................................................................................................ 169
9.3.3 Setting the access code ............................................................................................................. 170
9.3.4 Setting the language .................................................................................................................. 170
9.3.5 Checking the interface crane control system ↔ AddOn sway control system ........................... 171
9.3.6 Checking the communication with the camera measuring system ............................................ 172
9.4 Operation mode "manual" without sway control ........................................................................ 174
9.4.1 Preparation – first steps ............................................................................................................. 174
9.4.2 Commissioning steps in the commissioning menu .................................................................... 174
9.4.2.1 Procedure ................................................................................................................................... 174
9.4.2.2 Step 0: Setting the configuration and important parameters ..................................................... 176
9.4.2.3 Step 1: Aligning the camera ....................................................................................................... 178
9.4.2.4 Step 2: Determine parameters of effective pendulum length in the trolley direction ................. 180
9.4.2.5 Step 3: Determine parameters of effective pendulum length in the gantry direction ................. 180
9.4.2.6 Step 4: Determine parameters of effective pendulum length for slewing gear .......................... 181
9.4.2.7 Step 5: Simulating errors ........................................................................................................... 181
9.4.2.8 Step 6: Determining the velocity ................................................................................................ 181
9.4.2.9 Step 7: Change communication addresses ............................................................................... 182
9.4.2.10 Step S: Saving parameters ........................................................................................................ 182
9.5 Operation mode "manual" with sway control ............................................................................. 183
9.5.1 Preparation ................................................................................................................................. 183
9.5.2 Test runs without boosted camera signal .................................................................................. 183
9.5.3 Test runs with boosted camera signal ....................................................................................... 185
9.5.4 Testing in the prelimit switch range............................................................................................ 185
9.6 Checking and fine-tuning the sway control system.................................................................... 186
9.6.1 General ...................................................................................................................................... 186
9.6.2 Correction of the effective pendulum length .............................................................................. 186
9.6.2.1 Application .................................................................................................................................. 186
9.6.2.2 Digital correction of the effective pendulum length for the trolley and the gantry ...................... 186
9.6.2.3 Digital correction of the effective pendulum length for the slewing gear ................................... 188
9.6.2.4 Analog correction of the effective pendulum length ................................................................... 188
9.6.2.5 Additional information ................................................................................................................ 190
9.6.3 Setting the permissible residual sway ........................................................................................ 190
9.6.4 Setting the velocity for zero speed detection ............................................................................. 191
9.6.5 Setting the damping factor ......................................................................................................... 191
9.6.6 Setting the switch-on delay of the drives ................................................................................... 191
9.6.7 Defining the activation velocity of the sway control ................................................................... 192
9.6.8 Functions for optimizing travel behavior .................................................................................... 193
9.6.9 Pendulum length from SIMATIC S7 or camera ......................................................................... 193