Belly sway

Note that 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 also returns "FALSE"; otherwise, the result would be a position jump. If Out.lrMachineState returns "1", the algorithm is currently in the phase of processing the residual inaccuracy.

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

  • 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 takes place at standstill.)
    • IEC variable: Config.SetpointCorrection.eSelector
    • Fieldbus: Control word (PO)
  • Adjust the payload
  • If the payload on the load handling device has a significant influence on the sway 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, a fixed setting of the maximum payload (lrMassPayload) delivers good results 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, a fixed setting of the effective lifting height at half the tower height delivers good results for all heights.
    • IEC variable: –
    • Fieldbus: Distance between lifting and traveling trolley (PO) / distance between lifting and traveling trolley (PI)
  • Status display for anti-sway control active
  • The xBusy variable takes into account all changes made by anti-sway control compared to the original travel profile and is therefore set to "TRUE" until the travel order with active AntiSway is completed. To proceed to the next step in the control chain, xBusy must return "FALSE".
    • IEC variable: Out.xBusy
    • Fieldbus: Status word (PI)