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 (IEC value)

• Anti-sway control off (1)
• Tower sway (2)
• Pendulum sway (4)
• Belly sway (5)
• Fluid sway (6)

Index: 50014.1

IEC name: Controller.AntiSway.Config.eApplicationType

User unit travel axis

Selection of the user unit of the travel axis. The user unit is determined based on the lower-level member. If this corresponds to the unit [m] or [mm], the input field is locked. The user-defined unit can be defined using a conversion factor.

Index: 50014.8

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.

Selection of the setpoint correction (IEC value)

• Off (0)
• Anti-sway control (1)

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 trolley

• Configuration value
• Use the value specified manually in the "Distance between lifting and traveling trolley" settings field in the "Basic settings" section.
• Configured axis
• Use the position of a configured axis such as the lifting axis as a value. This way, sway suppression is always adapted to the lifting height or to the distance between the lifting trolley and the traveling trolley. To do so, select and configure the axis using the displayed settings fields.

Index: 50014.4

IEC name: –

Name of axis for lifting position

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

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

Only one axis with MOVIKIT^® MultiMotion/Gearing can be selected. If a MOVIKIT^® MultiAxisController is used across one or more lifting axes, this must be selected as the axis for the lifting position.

Index: 50014.3

IEC name: –

Lifting position offset

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

Taking into account of the difference between the physical height and the actual position of the lifting axis

Default value: 0

Index: 50014.6

IEC name: Controller.AntiSway.Config.IrSwayOffset

Effective lifting direction

INFORMATION: Only visible in expert mode and with "Configured axis" under "Source of distance between lifting and traveling trolley".

Effective direction when moving upwards

• Positive
  Lifting position increases
• Negative
  Lifting position decreases

Index: 50014.23

IEC name: –

Conversion factor for user unit in meters

INFORMATION: Only visible for "Configured axis” under "Source of distance between lifting and traveling trolley" 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: Controller.AntiSway.Config.IrUserUnitToMeter

User unit lifting position

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

Define the user unit of the lifting axis. If the user unit of the selected lifting axis can be clearly assigned to the unit [m] or [mm], the input field is blocked. The user-defined unit can be defined using a conversion factor.

Index: 50014.9

IEC name: –

Basic settings (settings 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 trolley

Distance from lifting axis to travel axis

Value at the time of operation for sway suppression when "Configuration value" is selected for "Source of distance between lifting and traveling trolley" (in m).

Default value: 1

Index: 50014.11

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

Mass of the lifting trolley

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 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

Selection of the support for determining the "Spring stiffness between tower and traveling trolley" and "Damping ratio between tower and trolley" parameters.

• Manual entry
  Based on the configured basic settings (system geometries), a suggested value is calculated for "Spring stiffness between tower and traveling trolley [7]" and "Damping ratio between tower and traveling trolley [8]".
• From measurement
  Manual performance of a measurement run to determine the "Spring stiffness between tower and traveling trolley [7]" and "Damping ratio between tower and traveling trolley [8]" parameters. The "Oscillation amplitude [20/21]" and "Oscillation period [22]" parameters must be determined manually for this.

Index: 50014.250

IEC name: –

Distance between lifting trolley and traveling trolley at measurement time

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

Distance from lifting axis to travel axis at the time of measurement (in m)

Default value: -1

Index: 50014.25

IEC name: –

Oscillation amplitude

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

1st peak of the oscillation amplitude

Default value: 1

Index: 50014.110

IEC name: –

Oscillation amplitude

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

2nd peak of the oscillation amplitude

Default value: 1

Index: 50014.111

IEC name: –

Oscillation period

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

Time between 1st and 2nd oscillation amplitude (in s)

Default value: 1

Index: 50014.112

IEC name: –

Spring stiffness between tower and traveling trolley

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 trolley

Damping constant between tower and horizontal drive

Default value: 0

Index: 50014.20

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 sway suppression, thereby reducing the dynamics of the correction signal. 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: 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 sway suppression, thereby reducing the dynamics of the correction signal. 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.lrJerkTime

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 anchor point to the end of the rope or, if a load is attached, 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. This way, sway suppression is always adapted to the pendulum length. When selecting "Yes", select and configure the desired axis using the displayed settings fields. The value for "Pendulum length from axis" is calculated as "Pendulum length from axis = ((lifting position × user unit) - rope anchor point) × effective lifting direction.

Default value: No

Index: 50014.22

IEC name: –

Name of 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

Only one axis with MOVIKIT^® MultiMotion/Gearing can be selected. If a MOVIKIT® MultiAxisController is used across one or more lifting axes, this must be selected as the axis for the lifting position.

Index: 50014.3

IEC name: –

User unit lifting position

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

Define the user unit of the lifting position. 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: 0.001

Index: 50014.5

IEC name: –

Rope anchor point

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

Definition of the rope anchor point (in m)

Corresponds to the position of the lifting axis at the attachment point of the rope or pulley. Oscillation can occur starting at the position of the rope anchor 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 decreases

Index: 50014.23

IEC name: –

Pendulum length from fieldbus in mm

Indicates whether a pendulum length (in mm) is specified via fieldbus with the process data word "Distance between lifting and traveling trolley". 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: 50000.252, 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: –

Sway suppression

The larger the time window, the more time is available for the correction movement of the sway suppression, and the lower the dynamics of the correction signal become. 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

Filtering the signal of the effective pendulum length:

• No filter: The pendulum length is used by an interpolated axis of the same MOVI-C^® CONTROLLER.
• Dynamic filter: If the pendulum length changes during acceleration or deceleration of the travel axis, the pendulum length filter is required in the following cases:
• The pendulum length is specified via fieldbus or via a MOVIKIT^® EncoderInterface.
• The pendulum length is noisy (e.g. due to sensors or encoders).
• In the 2nd derivative, the pendulum length 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

Mass of the lifting trolley

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 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

Selection of the support for determining the "Spring stiffness between tower and traveling trolley" and "Damping ratio between tower and trolley" parameters.

• Manual entry
• From measurement: Manual performance of a measurement run for determining the "Spring stiffness between tower and trolley [7]" and "Damping ratio between tower and trolley [8]" parameters. The "Oscillation amplitude [20/21]" and "Oscillation period [22]" parameters must be determined manually for this.

Index: 50014.250

IEC name: –

Distance between lifting trolley and traveling trolley at measurement time

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

Display of half the "Height of the tower" (in m), 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 trolley" and "Damping ratio between tower and traveling trolley".

Default value: 1

Index: 50014.11

IEC name: –

Oscillation amplitude

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

1st peak of the oscillation amplitude

Default value: 1

Index: 50014.110

IEC name: –

Oscillation amplitude

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

2nd peak of the oscillation amplitude

Default value: 1

Index: 50014.111

IEC name: –

Oscillation period

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

Time between 1st and 2nd oscillation amplitude (in s)

Default value: 1

Index: 50014.112

IEC name: –

Spring stiffness between tower and traveling trolley

Spring constant between tower and horizontal drive

Default value: 1.000000

Index: 50014.16

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

Damping ratio between tower and traveling trolley

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

Index: 50014.20

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

Configuration of effective lifting height (distance between lifting and traveling trolley, which is used as the basic value for performing sway 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)

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

Default value: 0

Index: 50014.21

IEC name: –

Lifting height from fieldbus in mm

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

Index: 50014.252, 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: –

Sway suppression

The larger the time window, the more time is available for the correction movement of the sway suppression, and the lower the dynamics of the correction signal become. 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: 1

Index: 50014.42

IEC name: –

Belly sway – (only visible in expert mode)

Adjust speed

Speed to correct the position deviation caused by sway suppression (in m/s)

Default value: 1

Index: 50014.60

IEC name: –

Adjust acceleration

Acceleration to correct the position deviation caused by sway suppression (in m/s^²)

Default value: 1

Index: 50014.61

IEC name: –

Adjust gain

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

Default value: 40

Index: 50014.62

IEC name: –