Anti-sway control

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

• Anti-sway control off
• Tower sway
• Pendulum sway
• Belly sway
• Fluid sway
• Spring sway

Index: 50014.1

IEC name: Controller.AntiSway.Config.eApplicationType

User unit travel axis

Selection of the user unit of the travel axis:

• mm
• m
• User-defined unit
• The user-defined unit can be defined using a conversion factor.

Index: 50014.2

IEC name: -

Conversion factor for user units to meters

INFORMATION: Can only be changed if "User unit travel axis" is set to "User-defined unit".

Position relationship between the user unit from the drive train and one meter.

If "0” is set, 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 combination 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.

• Off
• Anti-sway control

Index: 50014.30

IEC name: Controller.AntiSway.Config.SetpointCorrection.eSelector

Setpoint position response of the lifting axis not initialized (E120.24)

INFORMATION: Only visible in expert mode and with application type "Tower sway" or "Pendulum sway".

Travel axis response to error E120.24

• No response
• Warning + no response
• Fault + central stop profile

Index: 50010.202

IEC name: -

Anti-sway control

Source of distance between lifting and traveling vehicle

• Configuration value
• Use the value specified manually in the "Distance between lifting and traveling vehicle" setting field in the "Basic settings" area.
• Configured axis
• Use the position of a configured axis such as the lifting axis as a value. Thus, the sway suppression is always suitable for the lifting height or the distance between the lifting and traveling vehicle. To do so, select and configure the axis using the displayed setting fields.

Index: 50014.4

IEC name: -

Name of the axis for lifting position

INFORMATION: Only visible with "Configured axis” under "Source of distance between lifting and traveling vehicle".

Selection of the axis or axis group controlling the lifting height.

INFORMATION: Only one axis with MOVIKIT^® MultiMotion/Gearing can be selected.

Index: 50014.3

IEC name: -

Lifting position offset

INFORMATION: Only visible with "Configured axis” under "Source of distance between lifting and traveling vehicle".

Consideration of 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 position

INFORMATION: Only visible with "Configured axis” under "Source of distance between lifting and traveling vehicle".

Define user unit of lifting axis:

• mm
• m
• User-defined unit
• The user-defined unit can be defined using a conversion factor.

Index: 50014.9

IEC name: -

Conversion factor for user unit in meters

INFORMATION: Only visible for "Configured axis” under "Source of distance between lifting and traveling vehicle" and can only be configured if "User unit lifting axis" is "User-defined unit".

Position relationship between the user unit from the drive train and one meter.

If "0” is set, 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 vehicle

Distance from lifting axis to travel axis in [m]

Value at the time of parameter determination or value at the time of operation.

Default value: 1

Index: 50014.11

IEC name: Controller.AntiSway.Config.DriveTrain.lrDistanceHoistToCar

Mass of the lifting vehicle

Mass of the hoist 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, hoist, load mass and shuttle in [kg]

Default value: 1

Index: 50014.15

IEC name: Controller.AntiSway.Config.DriveTrain.lrMassTower

Support for parameter determination

Show the supporting parameters for determining the "Spring stiffness between tower and traveling vehicle" and "Damping between tower and traveling vehicle" parameters.

Index: 50014.250

IEC name: -

Oscillation amplitude

INFORMATION: Only visible if "Support for parameter determination" is activated.

1st peak of the oscillation amplitude

Index: 50014.110

IEC name: -

Oscillation amplitude

INFORMATION: Only visible if "Support for parameter determination" is activated.

2nd peak of the oscillation amplitude

Index: 50014.111

IEC name: -

Oscillation period

INFORMATION: Only visible if "Support for parameter determination" is activated.

Time between 1st and 2nd oscillation amplitude

Index: 50014.112

IEC name: -

Spring stiffness between tower and traveling vehicle

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 traveling vehicle

Damping constant between mast and horizontal drive 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]

The display value corresponds to the parameter "Setpoint cycle control" (8366.6) of the axis or the lower-level axis. This in turn must correspond to the "HighPrio Task cycle time" parameter (40000.30). 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]

For longer times, more time is used for oscillation suppression and thus the dynamics of the correction signal is reduced. The positioning process is extended by these times. However, the jerk time of the travel axis can be reduced at the same time.

Maximum ≤ 2000 * cycle time of the PLC in [ms]

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]

For longer times, more time is used for oscillation suppression and thus the dynamics of the correction signal is reduced. The positioning process is extended by these times. However, the jerk time of the travel axis can be reduced at the same time.

Maximum ≤ 2000 * cycle time of the PLC in [ms]

Default value: 0.3

Index:

IEC name: -

General information for assessing the design
(only visible if "Support for parameter determination" is activated)

Resonant frequency

Frequency at which the oscillating system can oscillate with maximum amplitude

Index: 50014.55

IEC name: -

Maximum acceleration

Acceleration for deflection calculation
in [m/s]

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 calculation. 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: -

Configuration of effective pendulum length (The effective pendulum length corresponds, for example, to the actual length in [m] of the rope of a crane application from the rope fixed point to the end of the rope or, if the load is attached, up to its center of gravity. It is calculated from the sum of the parameters "Configured pendulum length/offset", "Pendulum length from axis" and "Pendulum length from fieldbus".)

Configured pendulum length/offset

Specification of a fixed pendulum length or an offset in [m]

Default value: 0

Index: 50014.21

IEC name: -

Pendulum length from axis

Use a pendulum length from a selectable axis, axis group or MOVIKIT^® EncoderInterface. As a result, the oscillation suppression is always in relation to the pendulum length. When selecting "Yes", select and configure the desired axis using the displayed setting fields. The value for pendulum length from axis is calculated with pendulum length from axis = ((lifting position × user unit) - fixed rope point) × effective lifting direction.

Index: 50014.22

IEC name: -

Name of the axis for lifting position

INFORMATION: Only visible when "Pendulum length from axis" is "Yes".

Selection of the axis, axis group or MOVIKIT^® EncoderInterface for specifying the lifting position.

INFORMATION: Only one axis with MOVIKIT^® MultiMotion/Gearing can be selected.

Index: 50014.3

IEC name: -

User unit lifting position

INFORMATION: Only visible when "Pendulum length from axis" is "Yes".

Define user unit of lifting position:

• mm
• m
• User-defined unit
• The user-defined unit can be defined using a conversion factor.

Index: 50014.9

IEC name: -

Conversion factor for user unit in meters

INFORMATION: Only visible when "Pendulum length from axis” is "Yes" and can only be configured if "User unit lifting position" is "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: 0001

Index: 50014.5

IEC name: -

Fixed rope point

INFORMATION: Only visible when "Pendulum length from axis" is "Yes".

Defining the rope fixed point in [m]

Corresponds to the position of the lifting axis at the attachment point of the rope or pulley. Oscillation is possible from the position of the fixed rope point.

Default value: 0

Index: 50014.24

IEC name: -

Effective lifting direction

INFORMATION: Only visible when "Pendulum length from axis" is "Yes".

Effective direction of the lifting position from the axis when traveling downwards (rope/pendulum becomes longer):

• Positive (lifting position increases)
• Negative (lifting position becomes smaller)

Index: 50014.23

IEC name: -

Pendulum length of the fieldbus in mm

Indicates whether a pendulum length in [mm] is specified via fieldbus with the process data word "Distance between lifting and traveling vehicle". This means that, for example, variable effective pendulum lengths due to changing load centers or lifting position information from external axes are taken into account.

Index: 50000.177, Bit0

IEC name: -

Time window

Cycle time of the HighPrio task for limit value calculation

Cycle time of the HighPrio task in [ms]

The display value corresponds to the parameter "Setpoint cycle control" (8366.6) of the axis or the lower-level axis. This in turn must correspond to the "HighPrio Task cycle time" parameter (40000.30). 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: -

Oscillation suppression

The larger the time window, the more time is provided for the correction movement of the oscillation suppression and the dynamics of the correction signal is reduced. The positioning process is extended by the time window. However, the jerk time of the travel axis can be reduced at the same time.

Maximum ≥ 4000 * cycle time of the PLC in [ms]

Default value: 2

Index: 50014.42

IEC name: -

Pendulum length filter – filtering the signal of the effective pendulum length

(Only visible with "Pendulum length from axis" or "Pendulum length from fieldbus in mm")

Selection of the pendulum length filter

Selection of a filtering of the signal of the effective pendulum length:

• No filter
• Select if the pendulum length of an interpolated axis of the same controller is used.
• Dynamic filter
• If the pendulum length changes during acceleration or deceleration of the travel axis, the pendulum length filter is required if...
• The pendulum length is specified via fieldbus or a MOVIKIT^® EncoderInterface
• The pendulum length is noisy (e.g. due to sensors or encoders)
• The pendulum length in the 2nd derivative is not continuous (e.g. due to an additive position jump via fieldbus)

Index: 50014.130

IEC name: -

Sensor signal noise from peak to peak

Specification of the noise on the signal of the effective pendulum length from largest to smallest signal value in [m]

Default value: 0.01

Index: 50014.131

IEC name: -

Maximum lifting speed

Specification of the maximum lifting speed of the selected axis for the lifting position in [m/s]

Default value: 0.5

Index: 50014.132

IEC name: -

Maximum lifting acceleration/lifting deceleration

Specification of the maximum lifting acceleration/lifting deceleration of the selected axis for the lifting position in [m/s^²]

Default value: 0.5

Index: 50014.133

IEC name: -

Basic settings

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 vehicle

Display of half the "Height of the tower", as the belly sway is greatest at this height. This value is used for parameter determination as the required lifting height for determining "Spring stiffness between tower and traveling vehicle" and "Damping degree between tower and traveling vehicle".

Default value: 1

Index: 50014.11

IEC name: Controller.AntiSway.Config.DriveTrain.lrDistanceHoistToCar

Mass of the traveling vehicle

Mass of the hoist 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 traveling vehicle, hoist, load mass and shuttle in [kg]

Default value: 1

Index: 50014.15

IEC name: Controller.AntiSway.Config.DriveTrain.lrMassTower

Support for parameter determination

Show the supporting parameters for determining the "Spring stiffness between tower and traveling vehicle" and "Damping between tower and traveling vehicle" parameters.

Index: 50014.250

IEC name: -

Oscillation amplitude

INFORMATION: Only visible if "Support for parameter determination" is activated.

1st peak of the oscillation amplitude

Index: 50014.110

IEC name: -

Oscillation amplitude

INFORMATION: Only visible if "Support for parameter determination" is activated.

2nd peak of the oscillation amplitude

Index: 50014.111

IEC name: -

Oscillation period

INFORMATION: Only visible if "Support for parameter determination" is activated.

Time between 1st and 2nd oscillation amplitude

Index: 50014.112

IEC name: -

Spring stiffness between tower and traveling vehicle

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 traveling vehicle

Damping constant between tower and horizontal drive
in [Nm/(rad/s)]

Index: 50014.17

IEC name: Controller.AntiSway.Config.DriveTrain.lrDampTowerToCar

Configuration of effective lifting height (distance between lifting and traveling vehicle, which is used as the basic value for performing oscillation suppression. It is calculated from the sum of the parameters "Configured lifting height/offset" and "Lifting height from fieldbus".)

Configured lifting height/offset

Fixed lifting height or an offset in [m]

INFORMATION: This is often the lifting height with the strongest oscillation and thus equal to half the tower height.

Index: 50014.21

IEC name: -

Lifting height of the fieldbus in mm

Indicates whether a lifting height in [mm] is specified via fieldbus with the process data word "Distance between lifting and traveling vehicle". This means that, for example, variable lifting heights from external axes are taken into account.

Index: 50014.177, Bit0

IEC name: -

Time window

Cycle time of the HighPrio task for limit value calculation

Cycle time of the HighPrio task in [ms]

The display value corresponds to the parameter "Setpoint cycle control" (8366.6) of the axis or the lower-level axis. This in turn must correspond to the "HighPrio Task cycle time" parameter (40000.30). 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.

IEC name: -

Oscillation suppression

The larger the time window, the more time is provided for the correction movement of the oscillation suppression and the dynamics of the correction signal is reduced. The positioning process is extended by the time window. However, the jerk time of the travel axis can be reduced at the same time.

Maximum ≥ 4000 * cycle time of the PLC in [ms]

Default value: 2

Index: 50014.42

IEC name: -

Belly sway (only visible in expert mode)

Adjust speed

Speed in [m/s] to correct the position deviation caused by oscillation suppression

Index: 50014.60

IEC name: -

Adjust acceleration

Acceleration in [m/s^²] to correct the position deviation caused by oscillation suppression

Index: 50014.61

IEC name: -

Adjust gain

Gain of the alignment controller to correct the position deviation caused by the oscillation suppression

Index: 50014.62

IEC name: -

General information for assessing the design
(only visible if "Support for parameter determination" is activated)

Resonant frequency

Frequency at which the oscillating system can oscillate with maximum amplitude

Index: 50014.55

IEC name: -

Maximum acceleration

Acceleration for deflection calculation
in [m/s]

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 calculation. 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: -