Drive-Based Sway Control - Siemens AG · SIMOCRANE Drive-Based Sway Control Operating Instructions...

SIMOCRANE

Drive-Based Sway Control

Operating Instructions

valid for:SIMOCRANE Drive-Based Sway Control Version 1.0 and higher

07/2015

Preface

Fundamental safety instructions 1

System description 2

Hardware interfaces 3

Function description 4Installation/uninstallation of Drive-Based Sway Control 5

Commissioning 6

Parameters 7

Function diagram 8Spare parts, accessories, and maintenance 9

Appendix A

Legal informationWarning notice system

This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger.

DANGERindicates that death or severe personal injury will result if proper precautions are not taken.

WARNINGindicates that death or severe personal injury may result if proper precautions are not taken.

CAUTIONindicates that minor personal injury can result if proper precautions are not taken.

NOTICEindicates that property damage can result if proper precautions are not taken.If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.

Qualified PersonnelThe product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems.

Proper use of Siemens productsNote the following:

WARNINGSiemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed.

TrademarksAll names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.

Disclaimer of LiabilityWe have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions.

Siemens AGDivision Process Industries and DrivesPostfach 48 4890026 NÜRNBERGGERMANY

Ⓟ 07/2015 Subject to change

Copyright © Siemens AG 2015.All rights reserved

Preface

This document describes the software-based sway control system SIMOCRANE Drive-Based Sway Control. The software is part of the SIMOCRANE Advanced Technology package for the mid-range market.

Target groupThis document is for customers, commissioning engineers, service and maintenance personnel.

BenefitsThis manual provides the information, procedures, and operator actions required for operation and commissioning.

Prerequisite (scope of validity)This manual is valid for use with the following product versions:

Hardware● SINAMICS S120 CU310-2 DP

● CompactFlash card with Firmware V 4.7 HF11 CRANES

Software● STARTER as of V4.4 HF3

Additional Information

Siemens product support for SIMOCRANE The following addresses provide support for your SIMOCRANE products:

● Internet:

– You will find the latest information on SIMOCRANE products, product support, and FAQs on the Internet here (https://support.industry.siemens.com/cs/ww/en/ps/20087).

– You will find continuously updated information on Crane Application Notes on the Internet here (https://support.industry.siemens.com/cs/ww/en/ps/20087/ae).

● Support request on the Internet:

– Support request (https://support.industry.siemens.com/cs/?lc=en-WW)

Drive-Based Sway ControlOperating Instructions, 07/2015 3

https://support.industry.siemens.com/cs/ww/en/ps/20087

https://support.industry.siemens.com/cs/ww/en/ps/20087/ae

https://support.industry.siemens.com/cs/?lc=en-WW

● Hotline for Europe:

– Phone: +49(0)911 895 7 222

– Fax: +49 (0)911 895 7 223

– Email: Support Europe (mailto:[email protected])

● Hotline for America:

– Phone: +1 423 262 5710

– Fax: +1 423 262 2231

– Email: Support America (mailto:[email protected])

● Hotline for Asia/Pacific

– Phone: +86 10 6475 7575

– Fax: +86 10 6474 7474

– Email: Support Asia/Pacific (mailto:[email protected])

Siemens product support for SINAMICSYou will find the latest information on SINAMICS products, product support, and FAQs on the Internet here (https://support.industry.siemens.com/cs/ww/en/ps/13229).

Copyright information“MATLAB®. © 1984 - 2015 The MathWorks, Inc.”

Siemens confirms that it has a valid license agreement with Mathworks.

Preface

Drive-Based Sway Control4 Operating Instructions, 07/2015

mailto:[email protected]



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Table of contents

Preface.........................................................................................................................................................3

1 Fundamental safety instructions...................................................................................................................7

1.1 General safety instructions.......................................................................................................7

1.2 Industrial security.....................................................................................................................8

2 System description.......................................................................................................................................9

2.1 Introduction..............................................................................................................................9

2.2 System overview......................................................................................................................9

2.3 Requirements of the crane and crane axis............................................................................10

2.4 Scope of delivery....................................................................................................................11

3 Hardware interfaces...................................................................................................................................13

3.1 Handling the CompactFlash memory card of a CU310-2 DP................................................13

3.2 Interfaces of the CU310-2 DP................................................................................................13

4 Function description...................................................................................................................................17

4.1 Licensing................................................................................................................................17

4.2 State behavior applying to cross functions of Drive-Based Sway Control.............................17

4.3 Hoist range for sway-controlled motion..................................................................................18

4.4 Switching sway control on and off..........................................................................................18

4.5 Pre-limit switch function.........................................................................................................19

4.6 Damping factor.......................................................................................................................20

5 Installation/uninstallation of Drive-Based Sway Control.............................................................................23

5.1 Installation of the Drive-Based Sway Control.........................................................................23

5.2 Loading the technology package...........................................................................................24

5.3 Activating Drive-Based Sway Control in the drive object.......................................................25

5.4 Compile the project and load it into target device..................................................................26

5.5 Uninstalling Drive-Based Sway Control.................................................................................27

6 Commissioning...........................................................................................................................................29

6.1 Requirements.........................................................................................................................29

6.2 Requirements of the SINAMICS project.................................................................................29

6.3 Parameterizing Drive-Based Sway Control............................................................................306.3.1 Fundamentals of parameter assignment................................................................................306.3.2 Interconnecting and activating Drive-Based Sway Control (part 1)........................................316.3.3 Parameterizing the pre-limit switch range..............................................................................33


6.3.4 Parameterizing Drive-Based Sway Control functions............................................................336.3.5 Interconnecting and activating Drive-Based Sway Control (part 2)........................................346.3.6 Example of setpoint curves....................................................................................................35

6.4 Optional settings....................................................................................................................37

7 Parameters.................................................................................................................................................39

7.1 Description of parameters......................................................................................................39

7.2 Parameters.............................................................................................................................41

8 Function diagram........................................................................................................................................49

9 Spare parts, accessories, and maintenance..............................................................................................51

A Appendix.....................................................................................................................................................53

A.1 List of abbreviations...............................................................................................................53

A.2 Glossary.................................................................................................................................54

A.3 List of references....................................................................................................................55

Table of contents


Fundamental safety instructions 11.1 General safety instructions

WARNING

Risk of death if the safety instructions and remaining risks are not carefully observed

If the safety instructions and residual risks are not observed in the associated hardware documentation, accidents involving severe injuries or death can occur.● Observe the safety instructions given in the hardware documentation.● Take into account residual risks when assessing risks.

WARNING

Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization

As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death.● Protect the parameterization (parameter assignments) against unauthorized access.● Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY

STOP or EMERGENCY OFF).

WARNING

Danger to life posed by uncontrolled changeover between operating states

Uncontrolled change of the operating state can cause malfunctions on machines that can result in injuries or death.● Assess the effects of changeover between operating states in the risk analysis.● Provide appropriate safety measures, e.g. EMERGENCY OFF.


1.2 Industrial security

NoteIndustrial security

Siemens provides products and solutions with industrial security functions that support the secure operation of plants, solutions, machines, equipment and/or networks. They are important components in a holistic industrial security concept. With this in mind, Siemens’ products and solutions undergo continuous development. Siemens recommends strongly that you regularly check for product updates.

For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept. Third-party products that may be in use should also be considered. For more information about industrial security, visit this address (http://www.siemens.com/industrialsecurity).

To stay informed about product updates as they occur, sign up for a product-specific newsletter. For more information, visit this address (http://support.automation.siemens.com).

WARNING

Danger as a result of unsafe operating states resulting from software manipulation

Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe operating states to develop in your installation which can result in death, severe injuries and/or material damage.● Keep the software up to date.

You will find relevant information and newsletters at this address (http://support.automation.siemens.com).

● Incorporate the automation and drive components into a holistic, state-of-the-art industrial security concept for the installation or machine.You will find further information at this address (http://www.siemens.com/industrialsecurity).

● Make sure that you include all installed products into the holistic industrial security concept.

Fundamental safety instructions1.2 Industrial security


http://www.siemens.com/industrialsecurity


http://support.automation.siemens.com





System description 22.1 Introduction

At the end of 2010, an industry solution based on the SINAMICS platform SIMOCRANE Drive-Based Technology was launched onto the market. It is used to serve the diversified mid-performance market, which has developed very dynamically over the past few years.

In accordance with increased productivity requirements, this market demands certain advanced technologies, e.g. a typical sway control function. Siemens Cranes is meeting the challenges of this market with SIMOCRANE Drive-Based Sway Control.

Every movement of the trolley of a crane causes the load to sway. This makes positioning more difficult, and it takes correspondingly longer, depending on the experience of the crane driver. The main purpose of the sway control system is to eliminate the sway motion so that manual movement by the crane driver is made easier. This can relieve the crane driver and increase the handling capacity.

This new mid-performance crane solution will not take a market share from the existing SIMOCRANE Sway Control Systems. SIMOCRANE Drive-Based Sway Control is rather a perfect addition to the SIMOCRANE product portfolio.

SIMOCRANE Drive-Based Sway Control can be used with or without the SIMOCRANE Drive-Based Technology. Both technologies together provide a compact solution within the SINAMICS world for most mid-performance crane applications. For further information on SIMOCRANE Drive-Based Technology, see Ref. [1].

Additionally, standard applications and application notes are stored on the product DVD, see Ref. [2]. This provides users both with a "ready-to-run" solution and with a "ready-to-apply" solution.

The advantages of the SIMOCRANE Drive-Based Sway Control software are:

● easy and quick commissioning,

● high flexibility with many possibilities for adaptation.

2.2 System overviewThe main function of Drive-Based Sway Control is sway-controlled operation of a crane axis in manual operation.

It therefore performs the following functions:

● Sway is damped during manual travel. For movements during manual travel, the velocity is specified, e.g. by a master controller. It is not possible to specify target positions or perform position-controlled travel.

● After the axis has stopped, little or no load sway remains.

Drive-Based Sway Control is additional software for SINAMICS S120. With its interfaces, the software is integrated into the setpoint channel.


Design

Figure 2-1 Integration of Drive-Based Sway Control into the SINAMICS setpoint channel

Drive-Based Sway Control intervenes between the ramp-function generator and the speed controller. The software reads the speed output of the ramp-function generator and outputs a speed value that is added to the value of the ramp-function generator. The summated result is the input value of the speed controller.

2.3 Requirements of the crane and crane axisFor the correct operation of the SIMOCRANE Drive-Based Sway Control, the following requirements must be met:

● The axes for the trolley and gantry must be orthogonal with respect to each other.

● The relationship between the speed of the crane drive and the velocity of the crane axis is linear.

● In the speed controller of the crane drive, the actual speed follows the speed setpoint sufficiently. An increase in the deviation between the two values is a cause of the poor quality of the sway control.

NoteEncoder on the travel axis

An encoder on the travel axis is not necessary but is recommended to improve performance.

● The hoist must be equipped with an encoder so that the pendulum length can be provided for sway control.

● The load sway must be roughly equivalent to a mathematical sway model. Above all, no mechanical sway control systems must be present (e.g. separate cable tensioning). Mechanical sway control systems can result in a large deviation between the internal sway model and the real load sway. In this case the sway control will not work correctly.

System description2.3 Requirements of the crane and crane axis


● SIMOCRANE Drive-Based Sway Control works without a camera measuring system. For this reason, the following sway motion cannot be detected:

– Initial sway,

– Sway caused by a collision, wind, or asymmetrical load distribution,

– Sway caused by oblique hoisting of the load.

To ensure the expected sway control, the disturbances stated above must be avoided while the product is in use.

● If the SINAMICS drive is controlled via PROFIBUS, non-isochronous communication must be configured.

The requirements for configuration and parameter assignment of the SINAMICS drive are described in section Requirements of the SINAMICS project (Page 29).

Note

SIMOCRANE Drive-Based Sway Control can only be used for VECTOR motors.

2.4 Scope of deliveryThe scope of delivery of the SIMOCRANE Drive-Based Sway Control package (6GA7280-1AA10-0AB0) includes:

● a CompactFlash storage card (CF card) with:

– crane-specific firmware version SINAMICS FW V4.7 HF11 Cranes

– License key for Drive-Based Sway Control

● a DVD with:

– STARTER installation file for Drive-Based Sway Control

– Product documentation

– Readme files

– Application examples and application notes

● a license certificate

System description2.4 Scope of delivery


System description2.4 Scope of delivery


Hardware interfaces 33.1 Handling the CompactFlash memory card of a CU310-2 DP

The CompactFlash card contains the firmware and SINAMICS parameters with the factory settings.

Note

The CompactFlash card must only be inserted in the CU310-2 Control Unit when it is disconnected from the power supply.

3.2 Interfaces of the CU310-2 DPThe CU310-2 DP Control Unit (PROFIBUS) is a control module for single-motor drives in which the open-loop and closed-loop control functions of the drive are implemented.

The table shows an overview of the interfaces on the CU310-2 DP.

Table 3-1 Overview of the interfaces on the CU310-2 DP

Type NumberIsolated digital inputs 11Non-isolated digital inputs/outputs 8Isolated digital output 1Non-isolated analog input 1DRIVE-CLiQ interface 1PROFIBUS interface 1Serial interface (RS232) 1Encoder interface (HTL/TTL/SSI) 1LAN (Ethernet) 1Temperature sensor input 1EP terminal 1Test sockets 3


Figure 3-1 CU310-2 DP interfaces

The interface to the Power Module is located at the rear of the CU310-2 DP.

Figure 3-2 CU310-2 DP/PN_interface Power Module

Hardware interfaces3.2 Interfaces of the CU310-2 DP


Figure 3-3 CU310-2 DP connection example

For more information, see Ref. [3].





Function description 4This section describes the functions of the sway control.

4.1 Licensing

Use with license onlyThe functions of Drive-Based Sway Control can only be used if the relevant licenses are installed. The SINAMICS basic functions can be used without restriction even without a license.

The license key is stored on the CF card supplied. You will find this in folder KEYS\SINAMICS in file KEYS.txt.

The license certificate is also supplied with the Drive-Based Sway Control.

If the license is missing, the SINAMICS basic system generates the warning A13000 (insufficient licenses). The RDY LED on the Control Unit red/green also flashes at a frequency of 0.5 Hz.

If no license is installed, the drive cannot be operated with Drive-Based Sway Control.

4.2 State behavior applying to cross functions of Drive-Based Sway Control

Drive-Based Sway Control works with the following two states internally:

● Standstill

● Motion

These states are relevant to a number of functions and are therefore described as state behavior applying to multiple functions.

Change to the standstill stateIf the input signal p39049 "DB_SC threshold value speed undershot" has changed from 0 to 1 and the setpoint output of the ramp-function generator (r1150) is equal to 0, the Drive-Based Sway Control will change to standstill.

Change to the motion stateIf parameter r1150 "Ramp-function generator speed setpoint at the output" is not equal to 0, the software will change from standstill to motion.


4.3 Hoist range for sway-controlled motion

Range of hoist positionsSway-controlled motion with Drive-Based Sway Control is only possible in a limited range of hoist positions.

The limits are the hoist positions that correspond to effective pendulum lengths 200 mm or 200,000 mm.

Internally, the effective pendulum length is limited to the range from 200 mm to 200,000 mm and indicated in parameter r39042. The relationship between the hoist position and the effective pendulum length is described in chapter Parameterizing Drive-Based Sway Control functions (Page 33).

4.4 Switching sway control on and off

BICO connector (p39001[1] Switch on sway control function)With the binary BICO connector (p39001[1]) in the Drive-Based Sway Control software, you can switch the sway control function on and off.

This input can be connected to the PROFIBUS interface of the SINAMICS Control Unit or to a digital input of the Control Unit.

You will find detailed information in chapter "Commissioning (Page 29)."

Functional principleThe binary BICO source r39003.1 "Sway control function activated" indicates whether the sway control function in Drive-Based Sway Control is switched on (r39003.1 = 1) or switched off (r39003.1 = 0). If the sway control function is switched off, the addition value for the setpoint channel (r39032) is equal to 0.

The state of p39001[1] = 1 does not always mean that the sway control function has been activated. It is only possible to activate the sway control function while the axis is at standstill (see chapter State behavior applying to cross functions of Drive-Based Sway Control (Page 17)). If the state of p39001[1] changes from 0 to 1 during motion of the crane axis, the sway control function is not activated in the software and r39003.1 remains 0. If the state of p39001[1] is still equal to 1 when standstill is reached, the sway control function will be activated.

A negative edge of the state of p39001[1] always causes immediate deactivation of the sway control function.

When the sway control function is switched off during axis motion, Drive-Based Sway Control sets the values of the ramp-function generator via BICO connectors 39033 and r39034.0, see

Function description4.4 Switching sway control on and off


also Interconnecting and activating Drive-Based Sway Control (part 2) (Page 34). This permits continuous speed curves at the input of the speed controller (r1170).

Note

The statuses of OFF1, OFF2, and OFF3 do not affect the behavior of Drive-Based Sway Control.

Note

The speed setpoint of the speed controller (r1170) is not subject to jerk limitation while the sway control function is active, but only to speed and acceleration limitations. The following parameters are used as the limits in Drive-Based Sway Control:● p1082[0] for the maximum speed ● p1120[0] for the ramp-up and ramp-down time

This applies both to the simple and to the extended ramp-function generator.

4.5 Pre-limit switch function

Control bit “Not in pre-limit switch range”Parameter p39001[2] "Not in pre-limit switch range" signals to the Drive-Based Sway Control software whether a pre-limit switch range has been reached.

A set bit (p39001[2] = 1) means that the crane axis is outside the pre-limit switch range. The state p39001[2] = 0 means that the crane axis is within the pre-limit switch range.

The control bit is non-directional, i.e. different pre-limit switch ranges are not distinguished.

If the pre-limit switch control bit is not set (value = 0), Drive-Based Sway Control switches the sway control function off and the addition value for the setpoint channel (r39032) becomes 0 [rpm].

NoteVelocity in the pre-limit switch range.

Drive-Based Sway Control does not reduce the velocity of the drive to the value desired in this range in the pre-limit switch range. The reduction of the velocity must be implemented at a higher level, e.g. in the SINAMICS project or in a S7 controller.

To traverse with active sway control function again, the crane axis must be moved out of the pre-limit switch range. As soon as the axis is out of the pre-limit switch range, the Drive-Based Sway Control software will behave exactly like the switch on/off sway control function: Once the load sway has settled, new, sway-controlled motion can start after the axis has reached standstill (see also Switching sway control on and off (Page 18)).

Function description4.5 Pre-limit switch function


Figure 4-1 Behavior in the pre-limit switch range (example)

4.6 Damping factor

Effect of the damping factor on the sway control functionThe damping factor determines the degree of sway control. The value can be passed to the Drive-Based Sway Control in parameter p39026 or via BICO connector p39027. If the input signal of the BICO is not equal to 0, the value of the BICO signal p39027 is used. If the input signal is not equal to 0, the value of parameter p39026 is used.

The damping factor has a setting range of 0.3 to 1.1.

A change of the damping factor during motion (see chapter State behavior applying to cross functions of Drive-Based Sway Control (Page 17)) only takes effect once the axis is at standstill again.

The effect of the damping factor is illustrated in the following graph.

Function description4.6 Damping factor


Figure 4-2 Effect of the damping factor

Different damping factors (0.4; 0.8; 1.0) are compared in the graph.

In the "Speed" graph above, you can see by the speed curve above that a lower damping factor, e.g. 0.4, differs only slightly from the ramp-function generator value r1150 in the acceleration phase.



Select a high damping factor, e.g. 0.8, the speed will be overshot less than with a smaller value. The load sway will then settle faster during motion with constant velocity (see lower graph "Load angle").

Note

The choice of damping factor depends on the specific application scenario of the crane. If low residual sway is important, a higher damping factor is recommended.

The damping factor must therefore be optimized during commissioning in accordance with the application.



Installation/uninstallation of Drive-Based Sway Control 55.1 Installation of the Drive-Based Sway Control

The Drive-Based Sway Control software is installed in STARTER as a technology package as described below.

Requirement● The STARTER commissioning tool is open (offline mode).

● No projects are open.

ProcedureProceed as follows:

1. Select the menu item "Options > Installation of libraries and technology packages..." .

Figure 5-1 Selecting and installing the technology package

2. Click the "Add..." button.

3. Open the file "oasp_db_sc_v1_1_oaif04703400.zip."The technology package belonging to SIMOCRANE Drive-Based Sway Control is added.

4. Click the "Close" button.


5.2 Loading the technology packageThe Drive-Based Sway Control ("DB_SC") software is loaded into the device using STARTER as described below.

Requirement● A project matching the device is open (see chapter Requirements of the SINAMICS

project (Page 29)).

● The STARTER commissioning tool is in ONLINE mode.


1. Select the drive unit in the project navigator.

2. Select "Set technology packages..." from the shortcut menu (right mouse button). The "Select Technology Packages" window is opened.

3. Set the action "Load into target device" for the "DB_SC" technology package.

Figure 5-2 Selecting the technology package

4. Click the "Perform actions" button to confirm the settings you have made. After the action has been performed successfully, the "OK" result will be displayed in the relevant field.

5. Close the "Select Technology Packages" window with "OK."

6. Operate "POWER OFF/ON" (switch off/on) on the target device.

Installation/uninstallation of Drive-Based Sway Control5.2 Loading the technology package


Note● In a technology package, the "Version (online)“ column will only be filled after "Load into

target device" has been performed. ● The version data between the columns "Version (offline)" and "Version (online)" can differ.

When you download the technology package, the version in the target device is always overwritten.

● The Drive-Based Sway Control V1.0 software product contains the technology package version V1.10.13.0.

5.3 Activating Drive-Based Sway Control in the drive objectThe Drive-Based Sway Control software is assigned to the drive object as described below.

Requirement● A project matching the device is open (see chapter Requirements of the SINAMICS

project (Page 29)).

● The corresponding drive axes have been created in the project.

● The STARTER commissioning tool is in OFFLINE mode.


1. Open a project matching the device.

2. In the project navigator, select the drive object for which the Drive-Based Sway Control software ("DB_SC“) is required (e.g. DriveAxis).

3. Select "Properties" from the shortcut menu (right mouse button).

4. Go to the "Technology Packages" tab.

5. Select the "DB_SC" option. The technology package is activated.

Installation/uninstallation of Drive-Based Sway Control5.3 Activating Drive-Based Sway Control in the drive object


6. Click "OK" to confirm your entries.

Figure 5-3 Object properties

7. Open the expert list of the drive object.The additional parameters of the installed Drive-Based Sway Control software must now be visible in the expert list of the corresponding drive object.Please note that the parameters are not displayed in the expected sequence.

5.4 Compile the project and load it into target deviceCompiling the Drive-Based Sway Control software and loading it into the target device is as described below.

Requirements● The steps described in the preceding sections have been performed:

– Drive-Based Sway Control has been installed in the STARTER

– The technology package has been downloaded

– Drive-Based Sway Control has been activated in the drive object

● The STARTER commissioning tool is in OFFLINE mode.

Installation/uninstallation of Drive-Based Sway Control5.4 Compile the project and load it into target device



1. Save and compile the drive unit in whose drive object you have activated Drive-Based Sway Control.

2. Establish an ONLINE connection to the target device.

3. Load the drive unit into the target device.

5.5 Uninstalling Drive-Based Sway ControlThe Drive-Based Sway Control software is uninstalled using the STARTER tool as described below.

Uninstallation is performed in the reverse sequence to installation.


1. Deactivate the Drive-Based Sway Control software in the drive object (see chapter Activating Drive-Based Sway Control in the drive object (Page 25)).

2. Delete the technology package belonging to the software in the drive unit (see chapter Loading the technology package (Page 24)).

– Deactivate the technology package in OFFLINE mode.

– For the technology package in ONLINE mode, select the "Deletion in the target device" action.

– Click the "Perform actions" button.

3. Uninstall the Drive-Based Sway Control software in STARTER (see chapter Installation of the Drive-Based Sway Control (Page 23)).

Installation/uninstallation of Drive-Based Sway Control5.5 Uninstalling Drive-Based Sway Control


Installation/uninstallation of Drive-Based Sway Control5.5 Uninstalling Drive-Based Sway Control


Commissioning 66.1 Requirements

The following conditions must be met before the SIMOCRANE Drive-Based Sway Control can be commissioned:

● The crane meets the technological requirements (see chapter Requirements of the crane and crane axis (Page 10)).

● The SINAMICS drive is configured in such a way that an axis can be moved (see the following section Requirements of the SINAMICS project (Page 29)).

● The STARTER commissioning tool as of Version V4.4 must be installed.

● The file "oasp_db_sc_v1_1_oaif04703400.zip" must be located in a known directory. You will find this file on the supplied DVD.Installing this file extends the STARTER commissioning tool by the Drive-Based Sway Control software.

Note

In the description below, it is assumed that commissioning of the PLC and drive has been completed.

6.2 Requirements of the SINAMICS projectThe SINAMICS configuration already exists and must meet the following requirements:

● The STARTER commissioning tool has been installed.

● The STARTER project has been created and can be compiled and loaded into the SINAMICS Control Unit (CU310-2 DP).

● The drive, in particular the speed control and current control, has been commissioned and optimized.


● The ramp-function generator is used in the drive object.

● Extended brake control must be activated for the axis in the drive. You must set the parameters p1226[0] and p1228 correctly. These two parameters are relevant for bit r1229.7 which is used to detect standstill of Drive-Based Sway Control.Only with this activation and parameterization will the state behavior in Drive-Based Sway Control work as intended (see Chapter State behavior applying to cross functions of Drive-Based Sway Control (Page 17)).For details of the extended brake control, see Ref. [4].

Note

The extended brake control in the project must always be activated and parameterized (p1226[0], p1228[0]).

The activation and parameterization also apply if the brake of the axis is not controlled via SINAMICS or if there is no brake.

6.3 Parameterizing Drive-Based Sway Control

6.3.1 Fundamentals of parameter assignmentThe basics for the parameterization of the Drive-Based Sway Control software are described below.

Parameter rangesThe parameters of the Drive-Based Sway Control software ("DB_SC") are in the number range 39000-39400.

NoteHandling the parameters

The parameters (interconnection, change, …) are handled like the other SINAMICS parameters, Ref. [5].

Commissioning6.3 Parameterizing Drive-Based Sway Control


Before performing parameter assignment and interconnection of the Drive-Based Sway Control software, check the following settings in the STARTER project. Replace these if necessary. Before adaptation, the parameter p0112 must be set to "Expert."

● Select one of the five options from the following list to set parameters p115[3] and p115[1]:

– p0115[3] = 8000, p0115[1] = 1000

– p0115[3] = 4000, p0115[1] = 1000

– p0115[3] = 2000, p0115[1] = 1000

– p0115[3] = 2000, p0115[1] = 500

– p0115[3] = 1000, p0115[1] = 500

Note

To ensure proper functioning of the sway control function, one of the five ratios between p0115[1] and p0115[3] stated above must be set. Setting other ratios is not recommended and can result in malfunctions.

● The interpolators in the setpoint channel must be set as follows:

– p1189[0].0 = Yes

– p1189[0].1 = No

● The ramp-function generator ramp-up and ramp-down times (p1120[0] and p1121[0]) must be the same.

● Drive-Based Sway Control requires that a closed-loop speed control is parameterized in the SINAMICS drive. For this purpose, the control mode p1300[0] must be set to the settings 20 (closed-loop speed control without encoder) or 21 (closed-loop speed control with encoder).

6.3.2 Interconnecting and activating Drive-Based Sway Control (part 1)Interconnection of the Drive-Based Sway Control software is described below.

Interconnection with the SINAMICS setpoint channel1. Interconnect the output of the ramp-function generator (r1150) with p39050.

2. Activate the software via p39001[0].

Interconnection with the SINAMICS stationary monitoringInterconnect the parameter r1229.7 with p39049.

Interconnection of the hoisting heightThere are two ways of interconnecting the hoisting height:



Either via SINAMICS-IO or via PROFIBUS as described below.

Option 1: Interconnection of the hoisting height via SINAMICS-IO1. If the hoist position is provided to the software via analog inputs of the Control Unit,

interconnect r755[0] with p39051.Parameter r755[0] has the scaling PERCENT. After interconnection with p39051, the absolute value is used in the Drive-Based Sway Control software (i.e., 100 % corresponds to the integer value 1,073,741,824, etc.).Example: leff = s_Hoist • Factor + Offset, where s_Hoist is in the range -2,147,483,648 to 2,147,483,647.

Note

To ensure that no values are lost, proceed as follows when scaling the analog value:

The absolute value of r755[0] must be within the integer-32 value range (-2,147,483,648 to 2,147,483,647) of the input for the hoist position p39051.

2. With parameter r39052, you can verify the input value p39051 and check how the value is processed in the software.

Option 2: Interconnection of the hoisting height via PROFIBUS1. If the software provides the hoist position via a PROFIBUS interface, interconnect p39051

(integer-32) with an appropriate PROFIBUS parameter.You can interconnect the following PROFIBUS parameters:

– Drive object: r2050[i], i = 0…31

– Drive object: r2060[i], i =0…30

– Control Unit: r2050[i], i = 0…19

2. With parameter r39052, you can verify the input value p39051 and check how the value is processed in the software.

Interconnection of the input signal to activate the sway control functionIf you want to use the function for switching sway control on and off (see chapter Switching sway control on and off (Page 18)), you must interconnect the BICO connector p39001[1]. You have two options:

Either via SINAMICS-IO or via PROFIBUS as described below.

Note

If the sway control function is always to be active, interconnection of p39001[1] is not necessary. The BICO connector can be set constantly to 1.

In this case, you can skip the following two sections describing options.



Option 1: Interconnection of p39001[1] via SINAMICS-IO1. If the signal for switching the sway control function on and off is provided to the software

via a digital input of the Control Unit, interconnect the corresponding parameters, e.g. r722.0, with p39001[1].

Option 2: Interconnection of p39001[1] via PROFIBUS1. If the signal for switching the sway control function on and off is provided to the software

via PROFIBUS, interconnect the corresponding PROFIBUS parameter with p39001[1].You can interconnect the following PROFIBUS parameters:

– Drive object/Control Unit: r2090.0 to r2090.15






6.3.3 Parameterizing the pre-limit switch rangeInterconnection of the Drive-Based Sway Control software is described below for use of the pre-limit switch function.

Interconnection with parameter “Not in pre-limit switch range”If the parameter setting is correct, the evaluation signal of the pre-limit switches are interconnected with the control bit for the pre-limit switch of the Drive-Based Sway Control software.

1. Interconnect the signal of the pre-limit switches with the input parameter p39001[2].

Note

The control bit for reaching a pre-limit switch range can be used for one or more pre-limit switch ranges.

6.3.4 Parameterizing Drive-Based Sway Control functions

Conversion of speed to translatory velocityThe translatory velocity of the crane axis is required for the sway control function. The Drive-Based Sway Control software therefore converts the speed input p39050 to a translatory velocity.



This conversion is parameterized with p39021.

1. Set the parameter in such a way that the following applies:Translatory velocity of the crane axis [mm/s] = p39021 · speed [rpm]

The result of the conversion can be verified with parameter r39010[1].

Effective pendulum lengthThe sway control function is based on an internal oscillation model. This model requires the current effective pendulum length, which is calculated by the following formula:

Effective pendulum length (leff) [mm] = p39022 · p39051 + p39023

Note: Parameters p39022 and p39023 have the unit millimeters (mm).

The relationship between the effective pendulum length and oscillation frequency f is:

f = (1/(2π)) · √(g/(leff))

(g ≈ 9.81 m/s² (= gravitational acceleration))

To calculate parameters p39022 and p39023, proceed as follows:

1. Move the hoist into a lower position and note the value p39051 (=h1).

2. Move the crane axis to produce sway.

3. Count several oscillations (>5) and divide the elapsed time by the number of oscillations. This yields the period duration T1 of one oscillation.The oscillation frequency at this hoisting height is therefore f1 = 1 / T1 The effective pendulum length is leff1 = 1000 · g / (2π · f1)²

4. Move the hoist into an upper position and note the current value of p39051 (=h2).

5. In the same way as in step 3, calculate values T2, f2, and leff2.

6. Define the parameters as follows:p39022 = (leff1 – leff2) / (h1 – h2) p39023 = leff1 - p39022 · h1

The setting can be verified with the two output parameters r39042 and r39043. P39001[0] must be active for the verification.

6.3.5 Interconnecting and activating Drive-Based Sway Control (part 2)Final interconnection of the Drive-Based Sway Control software is described below.



Interconnection with the SINAMICS setpoint channelIf the parameterization is correct, outputs of Drive-Based Sway Control must be interconnected with the SINAMICS setpoint channel.

1. Interconnect the speed addition setpoint r39032 with the BICO connector p1160[0] of the SINAMICS setpoint channel

2. Interconnect the BICO source r39033 to p1144[0].

3. Interconnect the BICO source r39034.0 to p1143[0].

This completes commissioning and the crane will operate under sway control subject to the described conditions.

6.3.6 Example of setpoint curvesThe following diagrams show examples of setpoint curves after successful commissioning. The following conditions apply to the example:

● Effective pendulum length (r39042) is 10,000 mm.

● The SINAMICS ramp-function generator accelerates the speed setpoint (r1150) to 1000 revolutions per minute. In this example, that corresponds to a translatory velocity of 1000 mm/s because p39021 = 1.

The following figure shows:

● the set speed from the ramp-function generator for sway control (r1150 interconnected with p39050, yellow),

● the setpoint speed resulting from the sway control function for speed control (r39012, light blue).



Figure 6-1 Set speed / resulting setpoint speed

The following figure shows the curve of the pendulum angle in the internal oscillation model in centidegrees (r39040, beige).

Figure 6-2 Curve of the pendulum angle



The following figure shows the translatory values (r39010[1], green and r39010[0], blue) belonging to the first figure.

Figure 6-3 Translatory values

6.4 Optional settingsThis chapter describes settings that are not mandatory for sway control. The parameters can be used optionally, depending on operational or individual requirements.

Influencing the effect of sway controlWith the parameters for the damping factor p39026 or p39027, you can influence the effect of sway control.

The following chapter explains how this works: Damping factor (Page 20)

Commissioning6.4 Optional settings


You can set the damping factor in two ways in Drive-Based Sway Control:

● Option 1: Setting the damping factor via p39026. Enter the desired value.

● Option 2: Setting the damping factor via p39027. To do this, interconnect parameter p39027 via PROFIBUS.If the damping factor is provided to the software via a PROFIBUS interface, interconnect p39027 (integer-16) with an appropriate PROFIBUS parameter. You can interconnect the following PROFIBUS parameters:

– Drive object: r2050[i], i = 0…31

– Control Unit: r2050[i], i = 0…19

Note

Pay attention to the effectiveness of the two different parameters.

The damping factor is taken over from parameter p39026 as long as the BICO parameter p39027 is equal to 0. As soon as the BICO parameter p39027 is not equal to 0, this value will be used as the damping factor and p39026 will be ignored.

Smoothing of the effective pendulum lengthThe resolution of the signal of the hoist position is used for the effective pendulum length. It has an influence on the quality of the sway control function. The following always applies: The coarser the resolution, the worse the sway control function works.

In case of coarse resolution, you can smooth the signal. Set the amount of smoothing with parameter p39028.

Commissioning6.4 Optional settings


Parameters 77.1 Description of parameters

Structure of the parameter descriptionThis table contains all the information that can be included in a parameter description.

Description of function and properties of this parameter

textual description of index [1]

textual description of index [0]

Text of a note

Reference to further parameters relevant here

p1234[0...1]

Description:

Min Max Factory setting

Index:

Dependency:

Note:

Value:

Name of the parameter

smallest permissible value

Specification of

the data type

Group to which this parameter belongs

Specification of the

physical unit

greatest permissible value value preset at factory

Predefined selection of assignable values, including brief descriptions

Figure 7-1 Structure of the parameter description

Parameter number ("p1234[0...1]")The parameter number is a simple and unambiguous way of identifying a parameter. It consists of a preceding letter ("p" or "r"), a numerical portion, and possibly a following index (for example "[0...5]").

ExamplesHere are some examples of how the number is represented in the parameter list:

● p... Adjustable parameters (read and write parameters)

● r... Display parameters (read only)

● p0918 Adjustable parameter 918

● p0099[0...3] Adjustable parameter 99 indexes 0 to 3

● p1001[0...n] Adjustable parameter 1001, indexes 0 to n (n = configurable)

● r0944 Display parameter 944

● p1070[1] Adjustable parameter 1070, index 1

● p2098[1].3 Adjustable parameter 2098, index 1, bit 3

● r0945[2](3) Display parameter 945 index 2 of drive object 3


● p0795.4 Adjustable parameter 795 bit 4

● r2129.0...15 Display parameter 2129 with bit field (maximum 16 bit)

The following applies to adjustable parameters:

The parameter value on delivery from the factor is specified under “Factory setting” with the relevant unit in square parentheses. The value can be adjusted within the range defined by “Min” and “Max.”

The term "linked parameterization" is used in cases where changes to adjustable parameters affect the settings of other parameters.

Linked parameterization can occur, for example, as a result of the following actions and parameters:

● Executing macros p0015, p0700, p1000, p1500

● Setting a PROFIBUS telegram (BICO interconnection) p0922

● Setting component listsp0230, p0300, p0301, p0400

● Automatically calculating and preassigningp0112, p0340, p0578, p3900

● Restoring factory settingsp0970

The following applies to display parameters:

The fields “Min,” “Max,” and “Factory setting” are specified with a dash “-” and the relevant unit in square parentheses.

Note

The parameter list can contain parameters that are not visible in the expert lists of the particular commissioning software (e.g. parameters for trace functions).

BICO: Full parameter name / abbreviated nameThe following abbreviations can appear in front of the BICO parameter name:

● BI: Binector Input This parameter is used for selecting the source of a digital signal.● BO: Binector Output This parameter is available as a digital signal for interconnection

with other parameters.● CI: Connector Input This parameter is used for selecting the source of an "analog"

signal.● CO: Connector Output This parameter is available as an "analog" signal for intercon‐

nection with other parameters.● CO/BO: Connector/Binector Output This parameter is available as an "analog" and digital

signal for interconnection with other parameters.

Parameters7.1 Description of parameters


Note

A BICO connector (BI/CI) cannot be just interconnected with any BICO source (BO/CO, signal source). When interconnecting a BICO connector using the commissioning software, only the signal sources that are actually possible are listed. Function diagrams 1020 ... 1030 explain the symbols for BICO parameters and how to deal with BICO technology.

Detail for representation of parameters, see SINAMICS List Manual Ref. [5].

7.2 ParametersAll objects: VECTOR

p39001[0...2] BI: DB_SC control word / DB_SC CWAll objects Changeable: T Calculation: - Access level: 1

Data type: Unsigned32 / Binary Dynamic index: - Function plan: -P group: Functions Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: -

Max: -

Default: 0

Description: Sets the signal source for the control word of Drive-Based Sway Control.Index: [0] = Switch on DB_SC

[1] = Switch on sway control function[2] = Not in pre-limit switch range

WARNINGBit 0 must not be changed when the crane axis is moved.

NoteDB_SC: Drive-Based Sway Control (Drive-Based Sway Control for cranes)

r39003.0...1 CO/BO: DB_SC Status word / DB_SC SWAll objects Changeable: - Calculation: - Access level: 1

Data type: Unsigned32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: -

Max: -

Default: -

Description: Status word of Drive-Based Sway Control.Bit field: Bit Signal name 1 signal 0 signal FP 00 DB_SC activated Yes No - 01 Sway control function activated Yes No -

NOTICEIf the sway control function is deactivated, a time difference will occur between signal r39003[1]. Switch on sway control function and signal r39032 Addition setpoint speed DB_SC.Not all components of the Drive-Based Sway Control software run in the same cycle time. The function diagram of DB_SC shows which components run in which cycle time. Because they are processed in separate cycle times, there is a delay between signal r39032 and r39003[1], which can be calculated as follows: t = 2 * r115[3].

Parameters7.2 Parameters


r39010[0...1] DB_SC Translatory velocity / Transl VelocityAll objects Changeable: - Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: - [mm/s]

Max: - [mm/s]

Default: - [mm/s]

Description: Displays the status of velocities of translatory motion.Index: [0] = Velocity setpoint output

[1] = Velocity setpoint input from RFG

r39011[0...1] DB_SC Translatory acceleration / Transl Accel.All objects Changeable: - Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: - [mm/s²]

Max: - [mm/s²]

Default: - [mm/s²]

Description: Displays the status of accelerations of translatory motion.Index: [0] = Acceleration setpoint output of DB_SC

[1] = Acceleration setpoint input from RFG

r39012 DB_SC Speed setpoint output / n_set outputAll objects Changeable: - Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: - [1 rpm]

Max: - [1 rpm]

Default: - [1 rpm]

Description: Displays the speed that is obtained from the translatory output velocity with the transformation factor.

NoteThe following applies:p39012 = r39010[0] * p39021

r39013 DB_SC Speed setpoint output (interpolated) / n_set outp interpAll objects Changeable: - Calculation: - Access level: 4


Max: - [1 rpm]

Default: - [1 rpm]

Description: Displays the interpolated speed as a result of fine interpolation of p39012 in the cycle time r115[1].

NoteOnly for internal Siemens use.



r39014 DB_SC Speed setpoint input (interpolated) / n_set inp interpAll objects Changeable: - Calculation: - Access level: 4


Max: - [1 rpm]

Default: - [1 rpm]

Description: Displays the interpolated speed as a result of fine interpolation of r1150 in the cycle time r115[1].


p39021 DB_SC Transformation factor velocity / Transform factor vAll objects Changeable: T, U Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: 0.0001

Max: 90.0000

Default: 1.0000

Description: Sets the factor to transform the drive speed into the translatory velocity of the crane axis.

WARNINGThis parameter may only be changed in the following circumstances:- at standstill or- if the sway control function is switched off (p39001[1]) or- if Drive-Based Sway Control is deactivated

NoteTranslatory velocity [mm/s] = transformation factor [mm*min/s] * speed setpoint [rpm]r39010[1] = p39021 * p39050

p39022 DB_SC Factor calibration pendulum length / FactorCal pendulumAll objects Changeable: T, U Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: -340.28235E36 [mm]

Max: 340.28235E36 [mm]

Default: 1.00000 [mm]

Description: Sets the factor to calculate the effective pendulum length from the hoist position in adjustable parameter p39051.Dependency: See also: p39023, r39042, p39051, r39052

WARNINGThis parameter may only be changed in the following circumstances:- at standstill or- if the sway control function is switched off (p39001[1]) or- if Drive-Based Sway Control is deactivated (r39003.0=0).



p39023 DB_SC Offset calibration pendulum length / Offset Cal PendAll objects Changeable: T, U Calculation: - Access level: 1

Data type: Integer32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: -2147483648 [mm]

Max: 2147483647 [mm]

Default: 0 [mm]

Description: Sets the offset to calculate the effective pendulum length from the hoist position in adjustable parameter p39051.Dependency: See also: p39022, r39042, p39051, r39052

WARNINGThis parameter may only be changed in the following circumstances:- at standstill or- if the sway control function is switched off (p39001[1]) or- if Drive-Based Sway Control is deactivated

p39026 DB_SC Damping factor sway control function / Damp_fac swayctrl1All objects Changeable: T, U Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: 0.30

Max: 1.10

Default: 0.80

Description: Sets the damping factor of the sway control function.This value is only active if the value of the input signal of p39027 is equal to 0.

Dependency: See also: p39027

p39027 CI: DB_SC Damping factor sway control function (BICO) / Damp_fac swayctrl2All objects Changeable: T Calculation: - Access level: 1

Data type: Unsigned32 / Integer16 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: 4000H Expert list: 1Min: -

Max: -

Default: 0

Description: Sets the damping factor of the sway control system via a BICO interconnection.If the value of the input signal is not equal to 0, this value, which is internally limitated like p39026, is used. Otherwise, the value of p39026 is used.The following normalization for p39027 is used:4000h -> 100% -> internal 10h -> 0% -> internal 0

Dependency: See also: p39026

p39028 DB_SC Smoothing time effective pendulum length / Smth pendulum len.All objects Changeable: T Calculation: - Access level: 1

Data type: Integer16 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: 0 [ms]

Max: 500 [ms]

Default: 0 [ms]



Description: Sets the smoothing time for the effective pendulum length r39042.A PT1 filter is used for smoothing. A setting value of 0 deactivates smoothing. If smoothing is to be used, the parameter value must be set to at least twice the value of the sampling time r115[3].

r39032 CO: DB_SC Addition setpoint speed DB_SC / Add n_set n-DB_SCAll objects Changeable: - Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: p2000 Expert list: 1Min: - [1 rpm]

Max: - [1 rpm]

Default: - [1 rpm]

Description: Display and connector output for the speed addition value, which implements sway damping.Recommendation: We recommend setting the following BICO interconnection:

CI: p1160 = r39032

r39033 CO: DB_SC Ramp-function generator setting value / RFG setting valueAll objects Changeable: - Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: p2000 Expert list: 1Min: - [1 rpm]

Max: - [1 rpm]

Default: - [1 rpm]

Description: Display and connector output for the value of the Drive-Based Sway Control intended as the setting value of the ramp-function generator.

Dependency: See also: r39034.0, p1144[0...n]

NOTICEA BICO interconnection must be set between this parameter and p1144[0].

r39034.0 CO/BO: DB_SC Accept ramp-function generator setting value / RFG accept set vAll objects Changeable: - Calculation: - Access level: 1

Data type: Unsigned32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: -

Max: -

Default: -

Description: Display and connector output for the signal for applying the setting value in the ramp-function generator.Bit field: Bit Signal name 1 signal 0 signal FP 00 Accept ramp-function generator setting value Yes No -Dependency: See also: r39033, p1143[0...n]

NOTICEA BICO interconnection must be set between this parameter r39034.0 and p1143[0].

r39040 DB_SC Angle oscillation model [centidegree] / Angle modAll objects Changeable: - Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: -

Max: -

Default: -



Description: Angle of the oscillation model.

NoteValue of the unit centidegree: 100 centidegree = 1°.

r39041 DB_SC Angular velocity oscillation model [centidegree/s] / Angle vel modAll objects Changeable: - Calculation: - Access level: 1


Max: -

Default: -

Description: Angular velocity of the oscillation model.

NoteValue of the unit centidegree/s: 100 centidegree/s = 1°/s.

r39042 DB_SC Effective pendulum length / Eff pend_lengthAll objects Changeable: - Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: - [mm]

Max: - [mm]

Default: - [mm]

Description: Effective pendulum length.Calculated as follows:r39042 = p39022 * p39051 + p39023It is limited internally to a lower limit of 200 mm and to an upper limit of 200,000 mm.

r39043 DB_SC Frequency oscillation model / Freq ModAll objects Changeable: - Calculation: - Access level: 1

Data type: FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: - [Hz]

Max: - [Hz]

Default: - [Hz]

Description: Frequency of the oscillation model.

r39044 DB_SC Relative deflection of the load / Rel defl loadAll objects Changeable: - Calculation: - Access level: 1


Max: - [mm]

Default: - [mm]

Description: Relative horizontal deflection of the load.



r39045 DB_SC Effective pendulum length smoothed / Eff pend_length sAll objects Changeable: - Calculation: - Access level: 1


Max: - [mm]

Default: - [mm]

Description: Display of the effective pendulum length smoothed with p39028. This is used in the oscillation model.

p39049 BI: DB_SC Threshold value speed undershot / Thresh n undershotAll objects Changeable: T Calculation: - Access level: 1

Data type: Unsigned32 / Binary Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: -

Max: -

Default: 1229.7

Description: Sets the signal source for the zero speed display of the axis.Recommendation: We recommend setting the following BICO interconnection:

CI: p39049 = r1229.7

p39050 CI: DB_SC Speed setpoint input / n_set inpAll objects Changeable: T Calculation: - Access level: 1

Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: p2000 Expert list: 1Min: -

Max: -

Default: 1150[0]

Description: Sets the signal source for the speed setpoint of the sway control function.Recommendation: We recommend setting the following BICO interconnection:

CI: p39050 = r1150Dependency: See also: r39010[0]

NoteThe value is used to convert to the translatory velocity internally.

p39051 CI: DB_SC Hoist position / Hoist_positionAll objects Changeable: T Calculation: - Access level: 1

Data type: Unsigned32 / Integer32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: 4000H Expert list: 1Min: -

Max: -

Default: 0

Description: Sets the signal source for a value that is proportional to the hoisting height. The value is used to internally calculate the effective pendulum length.

Dependency: See also: p39022, p39023, r39052



r39052 DB_SC Hoist position (internal) / Hoist_position intAll objects Changeable: - Calculation: - Access level: 1

Data type: Integer32 Dynamic index: - Function plan: -P group: - Unit group: - Unit selection: -Not for motor type: - Scaling: - Expert list: 1Min: -

Max: -

Default: -

Description: Display for adjustable parameter p39051.Dependency: See also: p39022, p39023, p39051

NoteThe display parameter can be used to verify a correct value of adjustable parameter p39051. The displayed value is used to internally calculate the effective pendulum length.

r39100 DB_SC Damping factor (internal) / Damp_factorAll objects Changeable: - Calculation: - Access level: 4


Max: -

Default: -

Description: Internally active damping factor.




Function diagram 8Function diagram


Figure 8-1 Function diagram - Drive-Based Sway Control

Function diagram


Spare parts, accessories, and maintenance 9Spare partsNo spare parts are necessary.

Supplementary componentsOptional for use of SIMOCRANE Drive-Based Technology:

SINAMICS DCC V2.3 full license (6AU1810-1HA23-0XA0)

SINAMICS DCC V2.3 upgrade license (6AU1810-1HA23-0XE0)

SINAMICS S120 Control Unit CU310-2 DP (6SL3040-1LA00-0AA0)

SINAMICS Terminal Module TM31 (6SL3055-0AA00-3AA1)

SINAMICS STARTER V4.4.0.3 (DVD) (6SL3072-0AA00-0AG0)

Maintenance: Checking the position sensing functions for the hoist after cable changingAfter maintenance work on the hoist and cable changing, the position sensing sensor must be checked.

It may be necessary to home it again.


Spare parts, accessories, and maintenance


Appendix AA.1 List of abbreviations

The following abbreviations are used in this document:

Abbreviation Meaning BICO Binector Connector technology CF CompactFlash card CU Control Unit DB Drive-Based DCC Drive Control Chart DVD Digital Versatile Disc SC Sway Control


A.2 Glossary

Important terms

Effective pendulum length The effective pendulum length is the pendulum length that corresponds to that of a physical pendulum.

Oscillation modelThe oscillation model is a calculated model of the real pendulum movement, which is used to implement sway control

AppendixA.2 Glossary


A.3 List of references

Ref. 1 SIMOCRANE Operating Instructions Drive-Based Technology, 07/2012Ref. 2 SIMOCRANE Application Description Drive-Based Sway Control, 07/2015Ref. 3 SINAMICS S120 AC Drive Manual (GH6), 04/2014Ref. 4 SINAMICS S120 Function Manual Drive Functions, 04/2014 FW 4.7Ref. 5 SINAMICS S120/S150, List Manual 04/2014 FW 4.7

AppendixA.3 List of references


AppendixA.3 List of references


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