SIMOCRANE SC integrated STS, GSU Version 2.1 SP1 HF3

Size: px

Start display at page:

Download "SIMOCRANE SC integrated STS, GSU Version 2.1 SP1 HF3"

Todd Skinner
5 years ago
Views:

1 SIMOCRANE SC integrated STS, GSU Version 2.1 SP1 HF3 These notes take precedence over statements made in other documents. Please read the instructions carefully since they contain important information for you regarding installation and use of the software. The focus of the Version V2.1 SP1 HF3 lies in the complete revision of the target-generator function. The related bugs were fixed; the function was extended. Furthermore the possibility of diagnostic was improved. More information to this function refers to Chapter 3. A detailed description of target-generator will be soon published as a FAQ. This version will be not introduced in production. The Hot-Fix 3 can only be downloaded under Industry Support international. Users can upgrade their application if required. The Hot-Fix 3 is downwards compatible to the version 2.0 SP1 HF2 and HF1. More information about the V2.1 SP1 HF1 refers to the product update for its delivery release: Table of contents 1. SCOPE OF SUPPLY 2. NOTES ON INSTALLATION 2.1. System requirements Hardware Optional hardware Software 2.2. Installation 2.3. Uninstallation 3. CONSTRAINTS AND FUNCTIONAL RESTRICTIONS 1 Scope of supply The software package SIMOCRANE SC integrated STS, GSU Version 2.1 SP1 HF3 contains: Component Version Setup for DCC blocks Sway Control Setup for SIMOCRANE CeCOMM diagnostic program Java files Application example for STS cranes Application example for GSU cranes Language files and help files for Sway Control in German and English (Sprache0.txt Sprache1.txt) Parameter files with default values (Par0.txt Par3.txt) Readme file in German and English V2.1 SP1 HF3

2 The version V2.1 SP1 HF3 is downwards compatible to the version V2.1 SP1 HF2 and HF1. It can be downloaded from Internet at Industry Online Support under following link: The users can upgrade their application on demand. Please pay attention to the precondition in the operating instruction, 08/ Limitation of liability The application examples on the software DVD are provided free of charge. The customer is granted the non-exclusive, non-transferable, free right to use them. This includes the right to change the application examples, to copy them unchanged or changed, and to combine them with the customer's own software. We do not assume any liability - irrespective of the legal grounds - especially for errors in the software or associated documentation or damages incurred as a result of consulting unless the same is to be attributed to us, for example, for willful damage, gross negligence, damage to life, body or health, taking over of a procurement guarantee, willful concealment of defects or breach of important contractual obligations. This does not entail a reversal of the burden of proof to the disadvantage of the customer. Furthermore, the customer is obligated to indemnify SIEMENS AG from all and any third-party claims in as far as these claims arise in connection with the use of the software. German law shall apply. Place of jurisdiction shall be Erlangen. 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 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 2 Notes on installation 2.1 System requirements One requirement is use of a higher-level crane control system with a PROFIBUS/PROFINET communication. Continuously controllable drives must be used. Depending on the task to be performed and the environmental conditions, the sway control system can

3 be used with or without a SIMOCRANE CenSOR V2.0 camera measuring system. The hardware and software required for the camera measuring system must be ordered separately and they are not listed here. A version with the required license authority must be available Hardware SIMOTION D435-2 DP/PN as of firmware V4.3 SP1 HF17 or higher SINAMICS, as of firmware V4.5.HF20 or higher Optional hardware SIMOCRANE CenSOR V2.0 Reflector Software SIMOTION SCOUT as of Version V4.3.SP1 HF17 Optional package Drive Control Chart (DCC) for SIMOTION / SINAMICS as of version V2.2 SP1 SIMOCRANE Basic Technology Version V Installation The software package contains a setup file. You can use it to install the DCC library "SwayControl." The precondition is that the SIMOTION SCOUT software has been installed and the user is logged onto the PC with administrator rights. Setup.exe The installation program leads you step by step through the whole installation process. Installation is performed as follows: The SIMATIC Manager and the SCOUT must be closed before the setup is run. For the procedure for linking the "Sway Control DCC Library" into your SIMOTION user project, see the operating instructions "SIMOCRANE_SC_integrated_STS_GSU_de.pdf" chapter 3.4. The software package contains a setup file for the "SIMOCRANE CeCOMM" diagnostics and commissioning tool. The program can run under the WINDOWS 2000, WINDOWS XP, or WINDOWS 7 operating system. This requires that the user is logged in the PC with administration rights. Setup_CeCOMM.exe The installation program guides you through the entire installation process step by step. After installation the diagnostic program will be available under "Windows Start Programs." 2.3 Uninstallation Via Windows Start Settings Control panel Software, you can uninstall both the diagnostics tool

4 and the Sway Control DCC library installed via setup. 3 Notes on the Target-generator There is a Target position list (TPL). It is possible to display this list in CeCOMM by pressing the Y-button (EXTRA) in the main menue. In this Target position list the TL-positions are saved. These positions can be used as targets for the automatic motions. The implemented modifications for this version are roughly summarized in the following table. A detailed description of the functions is available as FAQ. Explanation of terms: Initialization of the Target position list: All saved TL-positions are deleted. The Target position list is set to to default values. TL-Positions: They are the positions where a container was set down or picked up (identified by the control bits LOCKED_BIT0 und LOCKED_BIT1)

5 Topic Lanes Initialisation Water-/Landside Determination of Target positions if there are no saved TLpositions present Determination of Target positions if there are already saved TL-positions present Previous versions (valid for Versions lower than V2.1 SP1 HF3) Learned lanes are saved in the Target position list. This can cause undesired impact to the TL-Positions. A lane will be only saved if the distance from an already existing lane is at least one spreader width. Otherwise the existing lane will be overwritten. An Initialisation of the TPL occurs only with the Control bit LEARN_PROFILE_RESET. But this happens only together with the perhaps undesired Initialisation of the blocked regions. Existing lanes with a possibly undesired impact will remain. Furhtermore an initialisation of the TPL occurs also if the spreader width (Parameter P106) is modified. However, as a result, this will also delete the Lanes. TL-Positions saved on the waterside will influence also the landside and vice versa. This is an undesired effect. The next Target positions are calculated. For example: If stacking type Row-by-row is selected the next target position in trolley direction is displaced by one spreader width (P106). This case is an exception and occurs only during the first motions after an Initialisation. The next target position is a saved TLposition from the TPL. This case is in normal operation always valid as soon as the first TL-positions are saved. This Version (valid for V2.1 SP1 HF3) Learned lanes are only saved in the File Zielpos.txt and there is no influence to the Target position list. Lanes are always saved independent of already existing lanes. Introduction of the additional Control bit INIT_TARGET. With this bit an Initialisation of the TPL is possible. The Initialisation with the Control bit LEARN_PROFILE_RESET is still possible as well as the Initialisation caused by modificaton of the spreader width P106. But in this case the saved lanes now remain in the system. There is no more influence between TL- Positions saved on the waterside and on the landside and vice versa. No difference The behaviour depends on the Control Bits OFFSET_TO_LAND and OFFSET_TO_WATER. If both bits are reset then the next target position is the saved TL-position from the

6 Caused by this system feature it can happen, that the determination of the target positions seems undefined because the TL-positions are always different because of external disturbances. Using an offset will reinforce this effect. However, many users expect the next target exactly displaced by one spreader width. TPL (same as previous versions). If both bits are set there is no Offset used and the next target position will be calculated. The saved TL-positions is not considered. If only one of both bits is set, an Offset will be used (same as previous versions) but now the TL-positions is not considered also. The next position is calculated in dependence of the stacking type and the selected Offset. Function of the Control bit INIT TARGET Not available Because of this new feature it is now possible for user to choose whether to use the calculated positions or the saved ones for the next target. INIT_TARGET Note: 1 Target position list is initialised. TL-positions are not saved. 0 Target position list is not initialised. TL-positions are saved It is used the Bit 9 in Control word STW1_PLC_Targets (see table 4-7 in operating instructions SC integrated STS, GSU; 08/2014) 4. 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 behaviour 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 for positioning, trolley) and P28 (Maximum position for positioning, trolley) respectively P63 (Minimum position for positioning, hoist and P69 (Maximum position

7 for positioning, hoist) interchanged then - In Operation Mode POS there is a Fault message 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 Control bit 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. 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. 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 faultfree 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. Remedy: Do not evaluate status bit START_AUTO_OK. (refer to FAQ ID: )

8 Behaviour 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. Remedy: 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. 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 from the master switch is set to zero internally. 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.

9 Remedy: 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. Remedy: - Perform CeCOMM Trace, storage of parameters, and save_zero at different times. - In case of error, perform a STOP/RUN operating mode change. 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. Remedy: 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. Remedy: 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 hoist to limit curve P71 is not always observed. (corrected in HF2) Remedy: 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.

10 Remedy: Do not set parameters P163 and 160 smaller than 0. 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/grab, is not equal to zero on the STS crane. Remedy: P107, Hoist offset to the spreader/grab, 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 Remedy: 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. Remedy: 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. Remedy: Always check the parameter files manually. "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. P53 Acceleration reduction when hoisting With values of the parameter P53 < 100 %, unexpected acceleration behaviour of the hoist may occur. Remedy: 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.

11 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. Function of the P111 Leave the parameter P111 with its default value (0). Function of the parameters P149 and P150 Leave the parameters P149 and P150 with their default values (0). 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 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. Behaviour of error message E36 and status bit POS_IN_SAFETY_AREA if control bit DEL_OBST is set The error message E36 and status bit POS_IN_SAFETY_AREA are not generated for internally learned blocked regions if the control bit DEL_OBST is set. Remedy: Don t set the control bit DEL_OBST permanently. Influence of the container height P108 on the moving trajectory The movement of the trolley starts around the value P108/2 below the calculated switch point. Through this it can come to an unacceptable movement of the trolley in a locking region. Remedy: Is valid: if the safe clearance + driving clearance < P 108/2, the trolley movement in the blocked region is not permitted in the mode SAM. Therefore the control bit BRAKE_CLOSED of the trolley should remain as long as the error message E36 queues. Semi-automatic mode starts 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. Remedy: The higher-level control must only start travel on the waterside in semi-automatic mode if the hoist is above the immersion point. Following Error E41 and E42 is not activated in Operation mode Positioning (POS) Remedy: A following error monitoring must be realized with the higher level Control Behaviour if a limit switch is activated in operation mode SAM If a limit switch is activated a move in the safety zone (P33 and P72) is possible.

12 Remedy: Avoidance of the limit switch area in operation mode SAM or abort of the automatic travel if a limit switch is activated. End

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