open and closed-loop control 2 - automatyka · with simotion d, the plc and motion control...

Siemens CR 1 · 2008

22/2 SIMOCRANE Basic Technology2/2 General2/4 Hardware2/4 SIMOTION D4352/7 SIMOTION CX322/10 Software2/10 Engineeringsystem

SIMOTION SCOUT

Open and closed-loop control

Open and closed-loop controlSIMOCRANE Basic Technology

General

2/2 Siemens CR 1 · 2008

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■ Overview

Crane applications

In the previous crane application solution, technology module T300/T400 for Crane-specific technology (basic technology) was implemented for the closed-loop control of crane drives with the SIMOVERT MASTERDRIVES and SIMOREG DC MASTER system. With the help of the T300/T400 technology module and the software specifically designed for cranes, additional func-tions can be implemented that were not included in the drive unit.

The new solution for crane application SIMOCRANE Basic Tech-nology is now available to you. The SIMOCRANE Basic Technol-ogy is a system of hardware and software packages for cranes automation that supports you in achieving maximum perfor-mance with your crane applications. The new solution has the following features:• The basic technology covers the motion control of all of the

main drives of a crane:- Hoist- Gantry (long Travel)- Trolley (Cross Travel)- Slewing gear- Holding and Closing gear, etc. (e.g. for booms)

• All of the functions proven in practice are found again on the new platform. Furthermore, the latest requirements have been taken into account.

• New closed-loop control concept for positioning with position controller

• Adaptation to customized requirements; a package supports both:- “Ready-to-run” (for parameterization only) as well as- “Ready-to-apply” (for adapting by the user)

• The technological basis is the SIMOTION D Motion Control system.

■ Benefits

SIMOCRANE Basic Technology provides the following benefits:• Standard applications significantly reduce the time for

engineering (“Ready-to-run”)• Easy adaptation and expansion for customized requirements

(“Ready-to-apply”)• One platform for all crane technologies (different crane tech-

nologies such as sway control are successively added to the SIMOCRANE Basic Technology)

Consequently,• The number of interfaces is reduced with SIMOTION D • Engineering and commissioning costs are optimized• Standardization is made easier.

■ Applications

The SIMOCRANE Basic Technology has a modular software structure. The application solution can be flexibly implemented for different types of crane, e.g. for• Harbor cranes

- STS (container quay cranes)- RMG (Rail Mounted Gantry cranes)- GSU (ship unloaders) etc.

• High- and medium-performance industrial cranes with crane-specific technology- Coil cranes- Gantry cranes- Slipway cranes, etc.

■ Design

Configuration of main drives with SIMOTION D435 in the crane application

The following components comprise a SIMOTION D435 crane application: • One SIMOTION D435 Control Unit, designed for open and

closed-loop control of a multiple axis line-up• One SIMOTION CX32 Controller Extension when using more

than 4 axes (see “Topology of container quay crane”, page 2/9)

• Several SINAMICS S120 Motor Modules (power units)• Other drive components, such as

- Power supply- Filter- Reactor, etc.

• The connection between SIMOTION D435 and the SINAMICS S120 Motor Modules is implemented with DRIVE-CLiQ in a star topology to ensure axis redundancy (see “Topology of container quay crane”, page 2/9).

• One CU320 Control Unit for current closed-loop control of the parallel infeed (up to 4 infeed units)

• One or more SINAMICS S120 Line Modules (in SIMOCRANE Basic Technology, the infeed unit is sepa-rately controlled by the SIMATIC S7, see “Topology of con-tainer quay crane”, page 2/9).

SIMOCRANE Basic Technology software

The SIMOCRANE Basic Technology package not only provides the basic functionality, the SIMOTION Motion Control technology package (for positioning, synchronous operation, etc.) and stan-dard libraries, but also the Crane Basic Technology package complete with two libraries. The package also contains several complete standard applications for cranes.


General

2/3Siemens CR 1 · 2008

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■ Selection and ordering data

Scope of delivery

The SIMOCRANE Basic Technology package offers a control system with hardware and software for various crane applica-tions.

It includes:

Hardware• SIMOTION D435

CompactFlash card• Current firmware version • Licenses:

- SIMOTION Multi-Axes (for Motion Control)- SIMOTION IT (for service, diagnostic and crane-specific

functions through an Internet browser)- SIMOTION Crane Basic Technology

(for functions in the crane DCC library)

Software on CD• Crane DCC library, online help• Crane FB library• Standard applications• Documentation

Supplementary components

Depending on the application, the following components can be supplied for open-loop and closed-loop control:

SINAMICS S120 drive systems, motors and connection systems are not included in the package for specific cranes. These com-ponents must be ordered separately.

■ Additional information

Notes on Licensing

Licensing is in accordance with the serial number of the memory card (CompactFlash card), but is not specific to the software version. The crane application software cannot run without li-censes.

Supplementary components

Further information on selection and ordering of supplementary components can be found in the following catalogs:• PM21 – SIMOTION, SINAMICS, and motors for production

machines• D81.1 – Low-voltage motors, IEC squirrel-cage motors• IK PI – Industrial communication, distributed I/O, PROFIBUS

Training

A&D MC Crane offers training for various target groups:• End customers (service and maintenance)• OEM (engineering and commissioning)

We also offer support for creating customized applications. To do this, please contact your local Siemens sales person.

Service and support

A&D MC CR will be pleased to offer you advice on adapting SIMOCRANE Basic Technology applications to your specific crane.

Please contact:

A&D Technical Support:Phone.: +49 (0) 180 5050222Fax. +49 (0) 180 5050223(0.14 €/minute from German landlines)

Order No.

SIMOCRANE Basic Technology 6AU1660-4AA10-0AA0

Order No.

SIMOTION CX32 (SINAMICS Controller Extension)

6SL3040-0NA00-0AA0

SINAMICS DRIVE-CLiQ Hub Module DMC20

6SL3055-0AA00-6AA0

SINAMICS Sensor Module Cabinet-Mounted SMC 30

6SL3055-0AA00-5CA1

SINAMICS Terminal Module TM31 6SL3055-0AA00-3AA0

SIMOTION SCOUT V4.1 SP1 6AU1810-1BA41-1XA0

Optional package Drive Control Chart (DCC) V2.0 SP1 for SIMOTION/SINAMICS

6AU1810-1JA20-1XA0

Open and closed-loop controlSIMOCRANE Basic TechnologyHardwareSIMOTION D435

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■ Overview

SIMOTION D435 platform

SIMOTION D435

SIMOTION D is a compact, drive-based version of SIMOTION based on the SINAMICS drives family. With SIMOTION D, the PLC and Motion Control functionalities as well as the SINAMICS S120 drive software run on a shared control hardware. The com-puting functions integrated into the drive allow the D435 Control Unit to operate up to 4 vector axes.

Motion tasks can be easily and uniformly resolved using SIMOTION. The IEC 61131-3-compliant PLC integrated in SIMOTION D means that the system is not just capable of con-trolling sequences of motions, but the entire machine as well. The technology packages, function libraries and multi-layer ar-chitecture of the runtime system account for the scalable func-tionality of SIMOTION. This results in the following benefits:• Directly uses the innovative structure of SINAMICS S120 –

compact construction to reduce the cabinet volume• Versatile networking thanks to onboard PROFIBUS DP and

Industrial Ethernet interfaces, as well as via PROFINET IO (optionally via CBE30 Communication Board)

• Easy to service thanks to CompactFlash Card, which can be easily replaced and contains all data (programs, data, drive parameters)

■ Design

Display and diagnostics• LEDs to display operating states and errors• 3 measuring sockets

Integrated I/O• 8 digital inputs• 8 digital inputs/outputs (max. 8 as high-speed cam outputs,

max. 6 as high-speed probe inputs)

Communication• 4 x DRIVE-CLiQ • 2 x Industrial Ethernet• 2 x PROFIBUS DP

Option Boards• CBE30 Communication Board for the connection to

PROFINET IO• TB30 Terminal Board for the expansion with 4 digital inputs,

4 digital outputs, 2 analog inputs and 2 analog outputs

Data backup• 1 slot for SIMOTION CompactFlash Card

Additional interfaces• Terminals for 24 V electronics power supply

■ Integration

SIMOTION D435 connection overview

6ES7901-4BD00-0XA0

DRIVE-CLiQ

SIMOTIOND435

EthernetX120X130

X122X132

X124

X136

PROFIBUS DPX126

Ethernet station

Digital inputs/outputs

Connection SINAMICSDrive components

24 V supply

Programming device (PG)

PROFIBUS DP station

G_P

M10

_EN

_001

12

DRIVE-CLiQ cable

Ethernet cable

PROFIBUS cables

OnboardI/Os

Powersupply

Order No.Pre-assembled cable

X100toX103

PROFINET IOCBE30(optional)

X1400

e.g. SINAMICS S120/CBE20,ET200 S

PROFINET IOIRT/RT Peripherie


HardwareSIMOTION D435


2

■ Technical data

SIMOTION D435 STANDARD Performance

PLC and Motion Control performance

Maximum number of axes 32

Minimum PROFIBUS cycle 1 ms

Minimum PROFINET transmission cycle 0.5 ms

Minimum servo/interpolator cycle clock 1.0 ms

Integrated drive control

Max. number of axes for integrated drive control (servo / vector / V/f)

6 / 4 / 8

Memory

RAM (Random Access Memory) 25 MB

RAM disk (load memory) 17 MB

Retentive memory 320 KB

Persistent memory (user data on CF)

300 MB

Communication

DRIVE-CLiQ interfaces 4

Ethernet interfaces 2

PROFIBUS interfaces 2

PROFINET interfaces Optionally over CBE30:• 1 interface with 4 ports• Supports PROFINET IO with IRT and RT• Can be configured as PROFINET IO controller and/or device

General technical data

Fan Optional battery/fan module

Supply voltage

• Rated value 24 V DC

• Permissible range 20.4 ... 28.8 V

Current consumption, typ. (excluding digital outputs andDRIVE-CLiQ supply)

600 mA

Starting current, typ. 6.0 A

Power loss 15 W

Permissible ambient temperature

• Storage and transport –40 ... +70 °C

• Operation 0 ... +55 °CMaximum installation altitude 2000 m above sea level. Above a height of 2000 m, the maximum ambient temperature is reduced by 7 °C per 1000 m; max. 5000 m above sea level.

Permissible relative humidity (without condensation)

5 ... 95 %

Atmospheric pressure 700 ... 1060 hPa

Degree of protection to EN 60529 (IEC 60529) IP20

Dimensions (W x H x D) 50 mm x 380 mm x 230 mm

Weight

• SIMOTION D 2500 g

• CompactFlash card 7 g

Open and closed-loop controlSIMOCRANE Basic TechnologyHardwareSIMOTION D435

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■ Technical data (continued)

SIMOTION D435 STANDARD Performance

Digital inputs 8

• Input voltage

- Rated value 24 V DC

- At signal “1” 15 ... 30 V

- At signal “0” –3 ... +5 V

• Isolation Yes, in groups of 4

• Current consumption typ. at 1 signal level

10 mA at 24 V

• Input delay, typ. (hardware)

L → H: 50 μsH → L: 100 μs

Digital inputs/outputs (parameterizable)

8 (max. 6 as high-speed probe inputs, max. 8 as high-speed cam outputs)

If used as an input

• Input voltage


- At signal “1” 15 ... 30 V

- At signal “0” –3 ... +5 V

• Isolation No

• Current consumption typ. at 1 signal level

10 mA at 24 V

• Input delay, typ. (hardware)

L → H: 50 μs (5 μs as probe input)H → L: 100 μs (50 μs as probe input)

• Probe input, accuracy 5 μs

If used as an output

• Rated load voltage 24 V DC

- Permissible range 20.4 to 28.8 V

• Isolation No

• Current load, max. 500 mA per output

• Residual current, max. 2 mA

• Output delay, max. (hardware)

L → H: 400 μs H → L: 100 μs

• Cam output, accuracy 125 μs

• Switching frequency of the outputs, max.

- For resistive load 100 Hz

- With inductive load 2 Hz

- For lamp load 11 Hz

• Short-circuit protection Yes

Other technical data

Non-volatile data backup

• Backup time, min. 5 days (real-time clock/SRAM backup)

• Charging time, typ. A few minutes

Approvals cULus (File No. E164110)


HardwareSIMOTION CX32 Controller Extension


2

■ Overview

SIMOTION CX32 Controller Extension

SIMOTION CX32 Controller Extension

In the crane application (see “Topology of container quay crane”), the CX32 is implemented for the function module group, e.g. 2 x Gantry or 2 x trolley. In this manner, communication is performed between the function module group, e.g. synchro-nous operation of Gantry 1 and Gantry 2 within a CPU.

The SIMOTION CX32 Controller Extension is a component in SINAMICS S120 booksize format and supports to extend the drive-end computing performance for the SIMOTION D435 Control Unit. Each CX32 can control up to four additional vector axes. The data for the CX32 is stored exclusively on the SIMOTION D435, which means no action has to be taken when the module is replaced.

The controller is connected to SIMOTION D with DRIVE-CliQ which ensures high-performance isochronous control of the drives without additional modules.

■ Technical data

SIMOTION CX32

Integrated drive control

Max. number of axes for integrated drive control (servo / vector / V/f)

6 / 4 / 8

Communication

DRIVE-CLiQ interfaces 4

General technical data

Supply voltage

• Rated value 24 V DC

• Permissible range 20.4 to 28.8 V

Current consumption, typ. (excluding digital outputs and DRIVE-CLiQ supply)

800 mA

Starting current, typ. 1.6 A

Power loss 20 W

Permissible ambient temperature

• Storage and transport –40 ... +70 °C

• Operation 0 ... +55 °CMaximum installation altitude 2000 m above sea level. Above a height of 2000 m, the maximum ambient temperature is reduced by 7 °C per 1000 m; max. 5000 m above sea level.

Permissible relative humidity (without condensation) 5 ... 95 %

Atmospheric pressure 700 ... 1060 hPa

Degree of protection to EN 60529 (IEC 60529) IP20

Dimensions (W x H x D) 25 mm x 380 mm x 230 mm

Weight 1500 g

Open and closed-loop controlSIMOCRANE Basic TechnologyHardwareSIMOTION CX32 Controller Extension

2/8 Siemens CR 1 · 2008

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■ Technical data (continued)

SIMOTION CX32

Digital inputs 4

• Input voltage


- At signal “1” 15 ... 30 V

- At signal “0” –3 ... +5 V

• Isolation Yes, in groups of 4

• Current consumption typ. at 1 signal level 10 mA at 24 V

• Input delay, typ. (hardware) L → H: 50 μsH → L: 100 μs

Digital inputs/outputs (parameterizable) 4 (max. 3 as high-speed probe inputs)

If used as an input

• Input voltage


- At signal “1” 15 ... 30 V

- At signal “0” –3 ... +5 V

• Isolation No

• Current consumption typ. at 1 signal level 10 mA at 24 V

• Input delay, typ. (hardware) L → H: approx. 50 μs (5 μs as probe input)H → L: approx. 100 μs (50 μs as probe input)

• Probe input, accuracy 5 μs

If used as an output

• Rated load voltage 24 V DC

- Permissible range 20.4 to 28.8 V

• Isolation No

• Current load, max. 500 mA per output

• Residual current, max. 2 mA

• Output delay, max. (hardware) L → H: 400 μs H → L: 100 μs

• Short-circuit protection Yes

Other technical data

Approval cULus (File No. E164110)


Hardware


2

■ Application example

Hardware configuration

The hardware configuration is shown in the figure below based on the example of a container quay crane with the new platform.

The performance of the SIMOTION D hardware allows all crane-specific technologies, e.g. Basic Technology,

sway control, to be operated via a controller. The individual crane technologies build on each other systematically. Addi-tional crane technologies of SIMOCRANE are described in the section “Crane technology”.

Topology of container quay crane

1 2 11

3

54 4 4 4 4

6

Trolley Boom

HoistGantry

G_C

R01

_EN

_001

67

EthernetSIMATIC

S7-300PROFIBUS

DRIVE-CLiQ

ET 200HMI

DC BUS

5

Active Line Module Chassis +Active Interface Module Chassis +Line Connection ModuleCU320

1

2

SIMOTION D435Motor Module ChassisCX32SMC30

34

6

Host

Open and closed-loop controlSIMOCRANE Basic TechnologySoftwareSIMOTION SCOUT Engineering System

2/10 Siemens CR 1 · 2008

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■ Overview

SCOUT is the engineering software for SIMOTION that is inte-grated in STEP 7. SCOUT contains all the tools required for con-figuration, parameterization, programming, test and diagnosis of SIMOTION and SINAMICS.

Structured text

The high-level language ST (Structured Text) provides all lan-guage elements as text commands. This enables well-structured applications to be created.

Crane-specific operations, such as operating mode assignment and management, telegram processing, etc. have been pro-grammed in ST as function blocks and are stored in the “Crane FB library”.

SIMOTION SCOUT with Crane application

Crane Package(SW)

Load dependent fieldweakening

Pre limit switch

Start pulse

DCC Library

Control Axis

FB Library

STS Crane

Ship Unloader Crane

AP Software

Operation Mode

TelegramS7 To SIMOTION

Diagnostics for Testingand Commissioning (Trace)Axis control panel

StructuredText (ST)

Motion ControlChart (MCC)

Hardware and NetworkConfiguration

Creation of TechnologyObjects

SCOUT

SIMOCRANEBasic Technology(Option)

Configuration / Parameterization

ProgrammingProject Management

Testing and Commissioning

Workbench

Creation of Cams(Basic)

Drive ControlChart (DCC)

STARTER Drives andCommissioning Tool

G_C

R01

_EN

_001

71


SoftwareSIMOTION SCOUT Engineering System

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■ Overview

Motion Control Chart (MCC)

Motion Control Chart (MCC) is a “flow diagram language” that can be used to graphically formulate the process procedures in machines or cranes in a simple manner. The result is one or more flow diagrams, comprising MCC blocks that describe the time sequence of the individual function module. Due to its special means of expression, MCC (Motion Control Chart) is ideally suited to programming sequential processes.

Various MCC blocks are available for controlling the machine, for example, conditions must be fulfilled, I/O signals can be read or set, calculations can be formulated and different control struc-tures such as condition (IF), cases (CASE) and loops (WHILE, REPEAT UNTIL) can be programmed.

All MCC blocks – a selection of the most important SIMOTION functions – are available in toolbars, see figure below.

In SIMOCRANE Basic Technology, MCC is implemented for the sequence control of every function module (e.g. hoist). This results in a clear flow chart for the drive-based control.

Optional Drive Control Chart (DCC) package

The Drive Control Chart (DCC) option packages for SIMOTION and SINAMICS extend the possibilities for easy graphical con-figuration of technology functions using predefined function blocks.

Multi-instance function blocks are selected from a predefined library and graphically interconnected using drag and drop. The standard function block library comprises a large number of control, calculation and logic blocks as well as extensive open and closed-loop control functions.

In the Crane DCC library, individual crane-specific technologies (e.g. load-dependent field weakening) can be preconfigured using the SIMOTION standard DCC library and encapsulated in individual macro modules. These Crane DCC blocks are used for setpoint processing (velocity, acceleration) of the function module (e.g. hoist) at a fast cycle task. In this manner, the struc-ture of control are clearly presented and previously programed function blocks can be used again and again.

Motion Control Chart Drive Control Chart


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■ Design

The function library

The “Crane DCC library” comprises a collection of function blocks (e.g. load dependent field weakening) which are imple-mented as “Drive Control Charts” (DCC) blocks. DCC is a repre-sentation which supports graphic configuring and interconnect-ing. The functional scope of the crane library is described in detail in the section “Technology functions”.

The “Crane FB library” consists of a collection of function blocks (e.g. Operation Mode) which have been programmed in “Struc-tured Text” (ST). These function blocks are called up in the drive-based sequence control at the MCC level.

SIMOTION technology package

Standard applications

The standard applications already contain fully configured appli-cation software for different crane types, e.g. “Container quay crane, Grab Ship Unloader crane”, etc. These solutions are “Ready-to-run” for the users who only need to set the necessary parameters. In the case of large-scale adaptation and expan-sion, this can be used as a starting point for “Ready-to-apply”. Expandability and flexibility have therefore been taken into ac-count.

Crane Package(SW)

Load dependent fieldweakening

Pre limit switch

Start pulse

DCC Library

Control Axis

FB Library

STS Crane

Ship Unloader Crane

AP Software

Operation Mode

TelegramS7 To SIMOTION

G_C

R01

_EN

_001

70



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■ Design

The application software has a modular structure according to crane type. An overview of the function modules, their operating modes and technology functions used are shown in Table 1 and Table 2.

Overview of the function modules and operating modes

Function modules Number of axes Control modes Operating modes

Hoist 2 • Single-axis positioning• Master-slave torque control operation• Synchronous operation

• Automatic• Manual• Jogging• Speed controlled• Encoderless emergency mode

Trolley (Cross Travel) 2 • Single-axis positioning• Master-slave torque control operation• Synchronous operation


Gantry (Long Travel) 2 • Single-axis positioning• Master-slave torque control operation• Synchronous operation


Boom 1 • Closed-loop speed controlled with torque limiting

• Jogging• Speed controlled• Encoderless emergency mode

Holding and closing gear 2 • Separate positioning with one axis (holding or closing gear)

• Synchronous operation

• Automatic• Manual• Jogging• Speed controlled

Slewing gear 1 • Single-axis positioning • Automatic• Manual• Jogging• Speed controlled


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■ Design

Technology functions

Lifting gear specific technology functions

No. Function Brief description

1 Load-dependent field weakening Using the DCC block, a supplementary speed setpoint is calculated dependent on the load. This increased speed for partial loads above the rated speed is required for cranes to enhence the productivity.

2 Prelimit switch (selectable limiting) The velocity of the drive can be influenced using the DCC block.

3 Start pulse Using the DCC block, “load sag” when starting hoists with a suspended load is either prevented or reduced.

4 Changeover of the ramp-function generator in the field-weakening range and when selecting heavy duty operation

Using the DCC block, the acceleration and deceleration times are modified in heavy duty operation or in field weakening.

5 Current distribution monitoring Using the DCC block, the current setpoint from the master and slave are compared. A message is generated if a specified difference are exceeded.

6 Slack rope controller This function prevents slack rope developing in the handled goods when the grab is connected. The slack rope controller also makes possible that the grab can bury itself into shott good bulk material and therefore ensuring the maximum filling level.

7 Current equalization control for orange-peel bucket operation

When raising and lowering the closed grab, the tension levels in the holding and closing ropes should be approximately the same. This means that the hoisting power is optimally distributed between the two motors.

8 Slewing velocity dependent on the length of overhang

The speed of the slewing gear is adapted depending on the radius length of overhang in order to keep the circumferential velocity constant.

9 Ramp-up and ramp-down time dependent on working radius + influence of ramp-function generator by velocity

For cranes with a slewing gear, with increasing radius of overhang, the load torque for the slewing gear increases while accelerating. In order to avoid that the current limits are reached, the ramp-up and ramp-down times are suitably adapted as a function of the working radius and/or the angular velocity.

10 Master switch Using the DCC block, the drive can be moved with a fine sensitivity by using the master switch for manual positioning.

11 Anti-slip control The velocity between the motor encoder and the external encoder is monitored using the DCC block. If an excessively high velocity deviation occurs, the velocity of the acceleration is adapted.

12 Heavy duty or constant field weakening Using the DCC block, the drive also allows heavy duty operation (HeavyDuty) by changing the velocity, or operation with constant field weakening (FieldWeak).

13 Monitoring the overspeed For hoist applications, overspeed is monitored using the DCC block.

14 Monitoring the setpoints The DCC block is used to monitor whether the velocity, acceleration or deceleration have been reduced. Further, it is monitored as to whether the drive is in field weakening.

15 Continous load measurement This DCC block is required for grab cranes. It measures the load continuously to guide the crane driver when he/she cannot see the grab.

16 Grap monitoring This DCC block can be used to detect bulky load material in the closing gear.

17 Time-optimized positioning for a single axis Using the system function, the drive can be moved to the target position as quickly as possible and precisely with the specified maximum velocity and acceleration/deceleration.

18 Master-slave torque control Master-slave operation is used if two motors are connected to a common shaft. The master operates either closed-loop position controlled or closed-loop speed controlled depending on the operating mode. The slave only operates closed-loop torque controlled. The master sends the torque as torque setpoint to the slave.

19 Synchronous operation Synchronous operation mode is used if two motors are connected to a common load. Depending on the operating mode, the master and slave operate as a function of the operating modes “closed-loop position controlled” or “closed-loop speed controlled”. The slave receives either a speed or position setpoint from the master through a gear (gear ratio 1 : 1) depending on the operating mode.



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■ Application example

Software structure

The modular software concept makes it easier to automate dif-ferent crane types. With the help of the open software, all crane-specific technologies or functions can be supplied to the user in the form of function blocks. The software structure is shown for

a coil crane, a container quay crane and a ship unloading crane in the following examples. Each axis of motion is mirrored with a function module in the software. Coordinating and controlling of the axes are tracked at the application level.

Function blocks for coil crane

Function blocks for container quay crane

STATUSCOMMAND

STATCMD STATCMD STATCMD STATCMD

Application level

Coil craneG_CR01_EN_00205

STATUSCOMMAND


Application level

Container quay craneG_CR01_EN_00168


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■ Application example (continued)

Function blocks for ship unloading crane

Each function module (e.g. hoist) has an MCC and a DCC chart. An application program created in the MCC calls the necessary function blocks from the “Cranes FB library” for execution of the function module (e.g. operating mode management). In a program created by DCC, the setpoint channel for velocity and acceleration/delay takes into account the crane-specific tech-nology (e.g. load-dependent field weakening) cyclically.

The standard application is created according to crane type, e.g. “Container quay crane”. For “ready-to-run” users, only parameterization is necessary. For “Ready-to-apply” users, this provides the starting point for individual expansions and adap-tation to concrete crane applications.

STATUSCOMMAND


Application level

Ship unloading craneG_CR01_EN_00169

open and closed-loop control 2 - automatyka · with simotion d, the plc and motion control...

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