Tower sway

IEC variables or process output data or process input data relevant for controlling and monitoring:

  • Switch on (value "1") or switch off (value "0") the anti-sway control during runtime (NOTE: Only use this function when the application is at standstill)
    • IEC variable: Config.SetpointCorrection.eSelector
    • Fieldbus: Control word (PO)
  • Adjusting the payload
  • If the payload on the load handling device has a considerable influence on the oscillation behavior, it is recommended to set the payload as a static value prior to each positioning process. The following guide values can be assumed to have a considerable influence:
  • "Variance "lrMassPayload > ⅓ "mass of vertical drive "(lrMassHoist)
  • Tip: In many applications, the constant setting of the maximum payload (lrMassPayload) achieves a good result for all heights despite a significant influence on the oscillation behavior.
    • IEC variable: Config.DriveTrain.lrMassPayload
    • Fieldbus: Mass payload (PO) / mass payload (PI)
  • Adjust the lifting height ("Distance between lifting vehicle and traveling vehicle")
  • We recommend that you continuously specify the height of the lifting axis using the "Configured axis" setting in MOVISUITE® or the IEC variable. It is important that this happens cyclically in the HighPrio task.
    • IEC variable: Config.DriveTrain.lrDistanceHoistToCar
    • Fieldbus: -
  • Status displays of the anti-sway control active
  • The xBusy variable takes into account all changes made by the anti-sway control compared to the original travel profile and is therefore set to "TRUE" until the travel order is completed with active AntiSway. To continue the control chain, XBusy must report "FALSE".
    • IEC variable: Out.xBusy
    • Fieldbus: Status word (PI)