Belly sway

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

INFORMATION

SetpointCorrection.xStart is set to "TRUE" by MOVISUITE® to process the remaining inaccuracy with the specified travel profile. Since otherwise a position jump will occur, the variable may only be set to "FALSE" if xBusy also returns "FALSE". If Out.lrMachineState returns "1", the algorithm is currently in the phase of processing the remaining inaccuracy.
  • 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")
  • If the lifting axis has a considerable influence on the oscillation behavior of the travel axis, it is recommended that the lifting height is statically specified by fieldbus before each positioning process..
  • Tip: In many applications, the constant setting of the half height of the tower for the effective lifting height achieves a good result for all heights.
    • IEC variable: -
    • Fieldbus: Distance between lifting and traveling vehicle (PO) / distance between lifting and traveling vehicle (PI)
  • 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)