SIMOCRANE CeSAR standalone STS, GSU Version 2.1 SP1 HF1

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1 SIMOCRANE CeSAR standalone STS, GSU Version 2.1 SP1 HF1 These notes take precedence over information in other documents. Please read the notes through carefully because they contain information that it is important for you to know during installation and use of the software. The focus of this version is on new implementation of trim-list-skew control with expanded functions, in particular, the skew damping function with an additional electric drive. An external immersion point can now be entered in 'semi-automatic mode.' Continuous improvement of the existing functionalities and documentation has also been a part of this version. Contents 1. SCOPE OF SUPPLY 1.1 Hardware 1.2 Memory Card (Simotion C) 1.3 DVD 1.4 Certificate of License 2. NOTES ON INSTALLATION 2.1. System requirements 2.2. Installation 2.3 Unstalling 3. CONSTRAINTS AND FUNCTIONAL RESTRICTIONS 1 Scope of Supply The SIMOCRANE CeSAR standalone STS, GSU Version 2.1 SP1 HF1 package contains: 1.1 Hardware SIMOTION C240 PN Mounting rail 1.2 Memory Card (Simotion C) The memory card contains the firmware for the SIMOTION C240 PN and the complete software, including the ordered licenses. Use of the Micro Memory Card is mandatory for operation of the SIMOTION C240 PN. Caution! The Micro Memory Card must only be inserted or removed while the device is de-energized

2 1.3 DVD The software DVD contains: Component SIMOCRANE CeCOMM diagnostics program (setup file) Installation Instructions Readme file in German and English Liesmich_OSS in German and English Operating instructions in German and English Version /2014 "Betriebsanleitung_SIMOCRANE CeSAR standalone OHBC, Gantry crane" Operating instructions for SIMOTION C in German and English Backup of MMC image: Application example (ExampleS7_SC_C240_STS_GS U.zip) Limitation of liability The application example "ExampleS7_SC_C240_STS_GSU.zip" on the software DVD is provided free of charge. The customer is granted the non-exclusive, non-transferable, free right to use it. This includes the right to modify the application example, to reproduce it modified or unmodified, and to combine it with the user's own software. All liability, on whatever legal basis, in particular based on errors in the software or the associated documentation or damage resulting from advice, is excluded unless liability is mandatory, for example, due to malice, gross negligence, injury to life, body, or health, due to acceptance of a quality warranty, due to fraudulent concealment of a defect, or due to breach of substantial contractual obligations. This does not imply a reversal of the burden of proof to the detriment of the customer. The customer is furthermore obligated to release SIEMENS AG from any claims of third parties where such claims arise in connection with use of the software by the customer. German law shall apply. The courts of Erlangen shall have exclusive jurisdiction. Safety instructions Siemens provides products and solutions with industrial security functions that support the secure operation of plants, solutions, machines, equipment and/or networks. They are important components of a holistic industrial security concept. The products and solutions from Siemens are continuously developed with this aspect in mind. Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial

3 security concept. Any third-party products that may be in use must also be taken into account. You will find more information about industrial security at: Constantly up-to-date information on SIMOCRANE products, product support, FAQs can be found on the Internet here Certificate of License The license is linked in via the serial number of the memory card. For the licenses listed below and contained on the MMC, the corresponding certificates are provided. SIMOTION_IT License for Sway Control Depending on the required functional scope, there are two different RT licenses for the SIMOCRANE CeSAR standalone System. - SIMOCRANE Sway control Basic license for SIMOTION C & D - SIMOCRANE Sway control Advanced license for SIMOTION C & D 2 Notes on Installation 2.1. System requirements The preconditions are a main crane controller system with a PROFIBUS/PROFINET interface as well as continuously controllable drives. Depending on the task to be performed and the environmental conditions, the sway control system can be used with or without a SIMOCRANE CenSOR camera measuring system. The hardware and software required for the camera measuring system must be ordered separately and are not listed here Installation The DVD contains a setup file. This can be used to install the "CeCOMM" diagnostics and commissioning program. The program is executable under the following operating systems: WINDOWS 2000, WINDOWS XP, or WINDOWS 7. The user must be logged onto to the PC with administrator rights. Installation is started from the DVD drive by running the following file: "Setup_CeCOMM.exe" The installation program guides you through the entire installation process step by step. After installation the diagnostics program will be available under "Windows Start Programs." The SIMOCRANE Runtime software is contained on the memory card supplied. You will find a backup copy on the DVD. For how to use the MMC memory card, see the operating instructions "SIMOCRANE CeSAR standalone STS, GSU" chapter 3.2.

4 2.3 Uninstalling Via Windows Start Settings Control panel Software, you can uninstall the diagnostics tool installed via setup. 3. Constraints and functional restrictions State bit "EXT_IMPNT_SMALLER" This status bit should not be used at the moment. Behaviour if P152 (Conventional/time-optimized control, trolley) is modified If the Parameter P152 (Conventional/time-optimized control, trolley) is changed during the Control bit TRAVEL is set an undefined behavior at the next automatic move can occur. Workaround: Modification of P152 only if the Control bit TRAVEL is not set. Behaviour if the Minimum and Maximum position is interchanged If the Parameter P23 (Minimum position für positioning, trolley) and P28 (Maximum position for positioning, trolley) respectively P63 (Minimum position für positioning, hoist and P69 (Maximum position für positioning, hoist) interchanged than - In Operation Mode POS there is a Faultmessagen E31 (trolley) or E32 (hoist). - In Operation Mode SAM there is no Fault message (impact thus as the parameters would be adjusted properly) Workaround: Always correctly adjustment of these Parameters CPU- STOP if P20 = 0 and Controlbit PRG_OBST is set If the Control bit PRG_OBST is set and the Parameter P20 (Position conversion factor for trolley) is adjusted to P20 = 0 then a CPU-STOP will occur Workaround: Never set Parameter P20 to zero Parameter P12 and P55 have no effect Velocity after PLS-Position is reached is still too high The parameters to influence the acceleration during braking (e.g. P8, P9, P11, P52, P54) are effective. But this effective acceleration values are not always considered for the calculation of the dynamic prelimit switches. As a result it is possible, that the velocity at the Position for PLS is still too high Workaround: Don t use this parameters or consideration of the higher velocity during determining the PLS positions.

5 Parameter P4 and P10 have no effect Behaviour in PLS Area in Operation Mode SAM If a Prelimit switch function is activated during a move in Operation mode SAM there will be a deviation from the predicted Trajectory. As a result even a violation of the blocked regions is possible Workaround: Avoidance of the Prelimit switch area in Operation Mode SAM or consideration of the deviation from the predicted trajectory Immersion point on display screen 6 is displayed without limitation The Immersion point on display Screen 6 is displayed without limitation if the Control bit LEARN_PROFILE_RESET is set. Sway control when starting Semi-Automatic Mode (SAM) If the actual positions of trolley and hoist are in a safety area or below the active immersion point when starting Semi-Automatic Mode (SAM), the sway control is immediately active in certain situations (in addition to the description in the Manual, chapter 7.5). Function of the parameters P149 and P150 Leave the parameters P149 and P150 with their default values (0). Status bit START_AUTO_OK does not function correctly Message does not function reliably. There are situations in which the bit is set and the status word INFO_NO_AUTO_START indicates a fault-free condition although a fault is in fact pending and operation is not possible. But there are also situations, in which no fault is pending and bit START_AUTO_OK is not set. Workaround: Do not evaluate status bit START_AUTO_OK. Behavior if the set acceleration is greater than the maximum acceleration...if the set acceleration is greater than the maximum acceleration, the effective acceleration is limited to the maximum acceleration. However, if the dynamic prelimit switch is used, the current velocity is still too high when the prelimit switch position is reached. This applies to the hoist and to the trolley. Workaround: Always set the set acceleration to be less than or equal to the maximum acceleration. Function of the P77 Leave the parameter P77 with its default value (200). Do not use the "Time-optimized control only for stopping" function. The "Time-optimized control only for stopping" function (P152=#xxxx5) must not be used.

6 Method of operation P140 P140 must be left as 0. Commissioning steps for digital and analog hoisting distance correction In the commissioning steps for the analog and digital hoisting distance correction, the results for P80 and P81 are not correctly shown on the relevant monitors. The correct values are set internally, however. The sway control system is not always deactivated for long pendulum lengths. With P84, you can define when the sway control system will be deactivated internally. Correction of the effective pendulum length (center of gravity displacement) with P80 (digital correction of the effective pendulum length) and P81 (analog correction of the effective pendulum length) are not taken into account in this. Display of the set velocity in the limit switch region When a limit switch responds, the set velocity is set to zero internally by the master switch. For that reason, the value passed on by the PLC is not displayed in the CeCOMM. P63 and P69 Reset learned blocked regions When obstacles are learned, a reset of the obstacles is performed if the following parameters are changed: P69 Maximum position hoist P26 Start waterside P29 End waterside The information in the documentation may differ. P45 "Hoisting velocity reduction in %" With parameter P45 "Hoisting velocity reduction in %," the limitation deviates from the set values. Workaround: Parameter P45 must be left with its default value (100%). Trace recording does not start. If CeCOMM Trace and storage of parameters are performed simultaneously, trace recording may output an error message and is therefore not started or the parameters are not stored. Workaround: - Perform CeCOMM Trace, storage of parameters, and save_zero at different times. - In case of error, perform a STOP/RUN operating mode change. Parameter P71 (travel clearance) should not be smaller than 800 mm. Smaller values can lead to noticeable deceleration of the trolley while moving around upper limits of the blocked regions (Collision protection). No start of positioning to target position With the start of a motion in operation mode positioning to the parking position or to an internal generated

7 target position after initialisation of the height profile it can happen in some situations, that the swaycontrol system does not generate set values. This effect has not been observed with external target positions yet. Workaround: After a short motion in manual operation mode a relaunch of the positioning should move the crane to the target position. Alternatively, the manual mode can be used to reach the target position. Differences between the set and output velocities when the control bit bounces. Brief cancellation or "bouncing" of some control bits, such as enable, traveling, or mode selection can result in deviations between the set and output value of the velocities. Workaround: Control via the PLC interface must be performed with stable signals as described in the documentation. This can be checked in the CeCOMM Trace. Warning messages E20 to E27 Warning messages E20 to E27 do not work. Functioning of the prelimit switch and limit switch must be assured in the higher-level control. Cancellation of the trace recording Storage of the zero positions by the control bit save_zero results in cancellation of the trace recording while recording with CeCOMM. Acknowledgment of errors E31, E32, and E35 If one of the errors E31, E32, or E35 occurs while basic operating mode "semi-automatic mode" is selected, the error bit remains set even after elimination of the error condition. Workaround: When another basic mode is set, the error bits are reset. Parameter files from previous versions If parameter files of a previous version are imported into the Simotion, an additional power cycle of the Simotion must be performed afterward. Only after that do the parameters work as intended. The travel clearance of trolley to limit curve P71 is not always observed. Workaround: The travel clearance must be implemented with the safety clearance. Target control function In the case of the hoist and trolley, the target control function results in the target always being traveled to with a deviation from P162 or P165 (positioning accuracy). Parameters P163 and P160 must not be less than 0 if the target is to be traveled to without this deviation. Workaround: Do not set parameters P163 and 160 smaller than 0.

8 The immersion point might be calculated with an error if P107 is not equal to zero on the STS crane. The immersion point might be calculated with an error if P107, Hoist offset to the spreader, is not equal to zero on the STS crane. Workaround: P107, Hoist offset to the spreader, must have the value zero on the STS crane. During learning of the parking position, the lashing platform, and the lanes, communication with CeCOMM may fail if an X-Y plot is being recorded at the same time. If an X-Y plot (obstacles) is recorded, the trace stops and can no longer be started. However, the monitor data continue to be updated. If CeCOMM is closed from this situation, communication can no longer be established. The SIMOTION must then be switched to STOP and RUN. This affects the following variables: - LEARN_PARK_POS - LEARN_LASH_PLATF - LEARN_POS_LANE Workaround: The X-Y plot must not be recorded at the same time as the stated actions. The error message E37 can be triggered without justification on starting automatic travel. The error message E37, Actual position in the blocked region, can be triggered during automatic start on the waterside. Workaround: Briefly lift load manually and then start automatic travel. Effectiveness of the error message E10 (invalid parameter file) The error message E10 is not effective in every conceivable situation. A defective parameter file might not be reported with E10 even though the parameters have been set to default values. Workaround: Always check the parameter files manually. Target positions may be too high. The target positions determined by the target generator may be located higher than required by the blocked regions. Function of the P111 An Adjustment of 0 or 1 for P111 causes no smoothing. Between these values decreasing values lead to an increasing smoothing. Values smaller than 0,1 should be avoided. The smoothing has no influence to the closed-loop control and effects only the display of the trace in CeCOMM. The signal "current actual speed" displayed in CeCOMM is noise induced and so it is not suitable for diagnosis. The variable transmission- and cycle-times between PLC and Sway Control lead to different values of calculation of the actual speed. These values don't have influence on the control.

9 "Semi-automatic mode" and P66 or P67 In "semi-automatic mode (SAM)," no travel must be started below P66 on the landside and below P67 on the waterside. Problems with Profibus while start-up of SIMOTION Was the SIMOTION configured with a Profibus address different to the default value 100, profibus communication problems can appear during start-up. The reason is, that the SIMOTION has Profibus address 100 for a short time during start-up and before it switches automatically to the address configured with CeCOMM. Workaround: Leave Profibus address at default value 100 and make sure, that all the other Profibus clients use different addresses. Correct parameterization of the start of the waterside (P26) or the end of the waterside (P29) for the function of the target generator. To obtain correct target positions on the ship, these must not be located too near to the start of the waterside (P26) or to the end of the waterside (P29). In this region, automatic stacking cannot be used. Workaround: The value for P26 must be less than the edge of the container stack; the value for P29 correspondingly greater. A lane may be traveled to even though no lane has been selected. If no lane is selected as the target, but the current target position for the trolley is identical to a stored lane, the target position of the hoist will be traveled to from this lane. Workaround: Leave parameter P109, automatic mode, with its default value "#.2" Semi-automatic mode, start below the immersion point If travel is started below the immersion point in semi-automatic mode, the trolley may move although the hoist height is still below the immersion point. Workaround: The higher-level control must only start travel on the waterside in semi-automatic mode if the hoist is above the immersion point. P53 Acceleration reduction when hoisting With values of the parameter P53 < 100 %, unexpected acceleration behavior of the hoist may occur. Workaround: Parameter P53 must be left with its default value (100%). Ship unloader with on-the-fly unloading: The start position of the hoist must always be less than the target position above the hopper.

10 If the starting position is greater than the target position above the hopper, the error "no path found" (E30) and the status bit "target too low" are generated. The crane does not start to move. License fault E3 not resettable If only the basic license is contained on the MMC card and a false operation mode is chosen (Positioning, Hoist control) the license fault E3 is not resettable, although the right basic operation mode (speed control) is chosen. Workaround: Restart the SIMOTION.

SIMOCRANE CeSAR standalone STS, GSU Version 2.1 SP1 HF3

SIMOCRANE CeSAR standalone STS, GSU Version 2.1 SP1 HF3 These notes take precedence over information in other documents. Please read the notes through carefully because they contain information that it