Anti-sway control
INFORMATION
Only included if the function is activated in the "Basic settings" configuration menu under "Functions used".
Parameter name | Description |
|---|---|
Anti-sway control | |
Application type
INFORMATION: The availability of the individual application types depends on the version of the software module used. | Selection of the application type
|
Index: 50014.1 | |
IEC name: Controller.AntiSway.Config.eApplicationType | |
User unit travel axis |
|
Index: 50014.2 | |
IEC name: - | |
Conversion factor for user units in meters
INFORMATION: Can only be changed if the user unit for the travel axis is a "User-defined unit". | Position relationship between the user unit from the drive train and one meter. If the value is set to "0", the user unit corresponds to one meter. For all other values, one meter is the product of the user unit and the specified value. If a negative value is entered, the effective direction can be changed in conjunction with the anti-sway offset. Default value: 0 |
Index: 50014.2 | |
IEC name: Controller.AntiSway.Config.lrUserUnitToMeter | |
Setpoint correction selection
INFORMATION: Only visible in expert mode. |
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Index: 50014.30 | |
IEC name: Controller.AntiSway.Config.SetpointCorrection.eSelector | |
Source of lifting height |
|
Index: 50014.4 | |
IEC name: - | |
Name of lifting axis INFORMATION: Only visible if source of lifting height is "Configured axis". | Selection of the axis or axis group controlling the lifting height. |
Index: 50014.3 | |
IEC name: - | |
Anti-sway offset INFORMATION: Only visible if source of lifting height is "Configured axis". | Activate to include the difference between the physical height and the actual position of the lifting axis. Default value: 0 |
Index: 50014.6 | |
IEC name: - | |
User unit lifting axis INFORMATION: Only visible if source of lifting height is "Configured axis". | Specify the user unit of the lifting axis:
|
Index: 50014.9 | |
IEC name: - | |
Conversion factor for user unit in meters INFORMATION: Only visible if source of lifting height is "Configured axis". INFORMATION: Can only be configured if the "User unit lifting axis" is a "User-defined unit". | Position relationship between the user unit from the drive train and one meter. If the value is set to "0", the user unit corresponds to one meter. For all other values, one meter is the product of the user unit and the specified value. Default value: 0.001 |
Index: 50014.5 | |
IEC name: - | |
Basic settings (setting fields visible depending on application type) | |
Height of the tower | Height of the tower in [m] Default value: 1 |
Index: 50014.10 | |
IEC name: Controller.AntiSway.Config.DriveTrain.lrHeightTower | |
Distance between lifting and traveling trolley | Distance from lifting axis to travel axis in [m] Value at the time of measurement of the period duration or value at the time of operation, if "Source of lifting height" is set to "Configuration value". Default value: 1 |
Index: 50014.11 | |
IEC name: Controller.AntiSway.Config.DriveTrain.lrDistanceHoistToCar | |
Mass of the lifting trolley | Mass of the vertical drive without payload mass and without shuttle in [kg] Default value: 1 |
Index: 50014.13 | |
IEC name: Controller.AntiSway.Config.DriveTrain.lrMassHoist | |
Mass of the payload | Mass of the payload in [kg] The shuttle is included in the payload. Default value: 1 |
Index: 50014.14 | |
IEC name: Controller.AntiSway.Config.DriveTrain.lrMassPayload | |
Mass of the tower | Mass of the tower without trolley, vertical drive, load mass and shuttle in [kg] Default value: 1 |
Index: 50014.15 | |
IEC name: Controller.AntiSway.Config.DriveTrain.lrMassTower | |
Support for parameter determination | Show supported parameters for determining the "Spring stiffness between tower and trolley" and "Damping ratio between tower and trolley" parameters. |
Index: 50014.250 | |
IEC name: - | |
Oscillation amplitude INFORMATION: Only visible if "Support for parameter determination" is active. | First peak of the oscillation amplitude |
Index: 50014.110 | |
IEC name: - | |
Oscillation amplitude INFORMATION: Only visible if "Support for parameter determination" is active. | Second peak of the oscillation amplitude |
Index: 50014.111 | |
IEC name: - | |
Oscillation period INFORMATION: Only visible if "Support for parameter determination" is active. | Time between first and second oscillation amplitude |
Index: 50014.112 | |
IEC name: - | |
Spring stiffness between tower and trolley | Spring constant between tower and horizontal drive in [Nm/rad] |
Index: 50014.16 | |
IEC name: Controller.AntiSway.Config.DriveTrain.lrSpringTowerToCar | |
Damping ratio between tower and trolley | Damping constant between tower and trolley in [Nm/(rad/s)] |
Index: 50014.17 | |
IEC name: Controller.AntiSway.Config.DriveTrain.lrDampTowerToCar | |
Time window | |
Cycle time of the HighPrio task for limit value calculation | Cycle time of the HighPrio task in [ms] INFORMATION: The value must be taken over manually from the "Cycle time HighPrio task" parameter (40001.30) of the higher-level controller. This is the only way to ensure that the parameters "Jerk time tension build-up" and "Ramp time tension build-up" are checked correctly. Default value: 1 |
Index: 50014.57 | |
IEC name: - | |
Ramp time tension build-up | Ramp time for the mechanical tension build-up in [s] Maximum ≤ 2000 * cycle time of the PLC Default value: 0.05 |
Index: 50014.41 | |
IEC name: Controller.AntiSway.Config.SetpointCorrection.TensionTimes.lrRampTime | |
Jerk time tension build-up | Jerk time for the mechanical tension build-up in [s] Maximum ≤ 2000 * cycle time of the PLC Default value: 0.3 |
Index: 50014.40 | |
IEC name: Controller.AntiSway.Config.SetpointCorrection.TensionTimes.lrJerkTime | |
General information for assessing the design (Only visible if "Support for parameter determination" is active.) | |
Resonant frequency | Frequency at which the oscillating system can oscillate with maximum amplitude |
Index: 50014.55 | |
IEC name: - | |
Maximum acceleration | Acceleration for deflection calculation |
Index: 50014.113 | |
IEC name: - | |
Deflection at lifting height | Deflection at lifting height in [m] calculated from the parameterization. This value is used for the plausibility check against reality and design calculations. If the deflection is not plausible, an incorrect parameterization can be assumed. |
Index: 50014.114 | |
IEC name: - | |
Auxiliary tower mass | Value resulting from all other parameters in [kg] |
Index: 50014.127 | |
IEC name: - | |
Auxiliary tower height | Value resulting from all other parameters in [m] |
Index: 50014.126 | |
IEC name: - | |
Auxiliary deflection | Value resulting from all other parameters in [rad] |
Index: 50014.128 | |
IEC name: - | |
