Belly sway

To control and monitor relevant IEC variables and process output data and/or process input data:

INFORMATION

SetpointCorrection.xStart is set to "TRUE" by MOVISUITE® to process the residual inaccuracy with the defined travel profile. The variable must not be set to "FALSE" until xBusy likewise returns "FALSE" because this would otherwise lead to a position jump. 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 at runtime (INFORMATION: Switching the anti-sway control on or off during travel is prevented and only occurs in the idle state.)
    • IEC variable: Config.SetpointCorrection.eSelector
    • Fieldbus: Control word (PO)
  • Adjustment of the payload
  • If the payload on the load handling device has a considerable influence on the sway behavior, it is recommended for the payload to be set 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 sway behavior.
    • IEC variable: Config.DriveTrain.lrMassPayload
    • Fieldbus: Payload mass (PO) / payload mass (PI)
  • Adjust the lifting height ("Distance between lifting trolley and traveling trolley")
  • If the lifting axis has a considerable influence on the sway behavior of the travel axis, it is recommended for the lifting height to be specified statically before every positioning process via fieldbus.
  • 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 trolley (PO) / distance between lifting and traveling trolley (PI)
  • Anti-sway control status displays 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)