Extending the process data

The following tables show the relevant process data words for the top drive. The further assignments of the relevant process data are shown in italics.

 

X MultiAxisController control word

Word

Bit

Assignment

Function

PO 10+20

0..3

Deactivate axis 1..4

 

PO 10+20

4..7

Release the brake without enabling – axis 1..4

 

PO 10+20

8

Deactivate
balance controller

When the load is lifted off or set down, the tower is subject to forces or torques that can be interpreted as sway by the strain gage. In order not to cause any balancing movement in these cases, the "Deactivate balance controller" bit can be set.

 

X MultiAxisController status word

Word

Bit

Assignment

Function

PI 10+20

0..3

Axis 1..4 deactivated

 

PI 10+20

4..7

Brake released – axis 1..4

 

PI 10+20

8

Balance controller
deactivated

The balance between axis group members with "torque priority" or "skewing priority" is deactivated. (INFORMATION: This bit does not apply to the position controller.)

 

12 optional process data items for the MultiAxisController

In the configuration of the MOVIKIT® StackerCrane effiDRIVE, on the "Fieldbus interface" configuration menu in the "Optional process data" section, you can activate 12 additional process data items for the MOVIKIT® MultiAxisController in the "MultiAxisController – X direction and/or Y direction" settings field. Among other things, you will find the following process input data in this process data.

Word

Bit

Assignment

Function

PI 25

0-15

X top drive
scaled
analog value

Deflection of the tower
in 10-1 user units

lrAnalogValue x 0.1 mm =
Tower deflection [mm]

IEC variable: lrAnalogValue_TopDrive

PI 26

0-15

X top drive
speed correction

Correction of speed in [User unit/ s]

IEC variable: lrVelocityCorrection_TopDrive

PI 27

0-15

X top drive
speed ratio

Speed ratio between top drive and travel drive in [0.1%]

[0.1%] = VelocityMotorEncoderTopdrive/
VelocityMotorEncoderLowerDrive

  • In the acceleration phase
  • Speed ratio > 1000 on basis of
    • Slip in top drive
    • Error in gear ratio of a drive
  • Speed ratio > 1000 on basis of
    • Slip in travel drive
    • Error in gear ratio of a drive
  • In the deceleration phase
  • Speed ratio > 1000 on basis of
    • Slip in travel drive
    • Error in gear ratio of a drive
  • Speed ratio > 1000 on basis of
    • Slip in top drive
    • Error in gear ratio of a drive

IEC variable: lrActualSyncRatio_TopDrive

PI 28

0-15

X top drive
slip

Slip between position of motor encoder (top drive) and position of motor encoder (travel drive). The value is zeroed or reset with rising edge of "Start", "Jog – Positive" or "Jog – Negative".

An erroneous gear ratio, insufficient contact force or soiling can result in a high degree of slip during a start and reducing slip when braking.

[User unit] =
PositionMotorEncoderTopdrive -
PositionMotorEncoderLowerDrive

IEC variable: lrSlip_TopDrive

PI 29

0-15

X top drive
unscaled
analog value

Deflection in user units of strain gauge measurement amplifier [0.001 V] or [0.001 mA]

IEC variable: lrAnalogValue_unscaled_TopDrive

The relevant IEC variables such as those for creating trace recordings can be found under the paths listed below.

  • SEW_GVL_Internal.StackerCrane.fbX._Out.lrAnalogValue_TopDrive
  • SEW_GVL_Internal.StackerCrane.fbX._Out.lrVelocityCorrection_TopDrive
  • SEW_GVL_Internal.StackerCrane.fbX._Out.lrActualSyncRatio_TopDrive
  • SEW_GVL_Internal.StackerCrane.StackerCrane.fbX._Out.lrSlip_TopDrive
  • SEW_GVL_Internal.StackerCrane.StackerCrane.fbX.lrAnalogValue_unscaled_TopDrive

Alternatively, the variables can be called up via the "StackerCrane TopDrive" trace template.