1

Instantiate the operating area restriction for industrial cranes.

2

Connect the inputs and outputs and parameterize the function block:

oEnter correct nominal speeds of the bridge travel and trolley motors and the linear speeds of the trolley and bridge travel movement at nominal motor speeds.

oConfigure the deceleration ramp time values of the trolley and bridge travel motors. Use the same deceleration times as the one configured in the respective variable speed drives.

oConfigure the clearances and restriction area margins for bridge travel and trolley.

oIf anti-sway is used on one or both horizontal movements, configure and verify it. Enable estimation of the stopping distance and reserve a sufficient time for its calculation. Connect the estimated distance output of the AntiSwayOpenLoop_2 function block to the i_rBridgeDistToStopAsw / i_rTrolDistToStopAsw inputs of the OperatingAreaRestrictionIC function block.

3

Verify the consistency of position measurement and motor speeds:

oVerify that the actual measured positions of the trolley and bridge movement are correct.

oMove both axes across their whole range and Verify the consistency of measured values.

oMake sure that the motor speeds are positive in the direction in which the position values increase.

4

Teach the restricted areas:

oSelect the area to teach using the input i_wShapeSel. The number of available restricted areas depends on configuration of parameter c_iNoOfPoly. The default range is 1 to 4.

oSet the input i_xTeachMode to TRUE.

oMove the trolley to positions of the vertices defining the restricted area and teach the positions by applying a rising edge on the input i_xTeachPoint for each vertex.

oFinish the teaching process by setting the input i_xTeachMode to FALSE.

oThe restricted areas may be taught or modified later.

oFor each restricted area, define the validity based on the hoist cable length.

5

Verify correct function of configured restricted areas both with and without anti-sway if it is used. Verify the stopping at the border of restricted area using the maximum designed speed and maximum size of the load. Make sure that there are not any thin segments or sharp edges in definition of the restricted areas.

6

Configure the maximum number of restricted areas with the maximum number of vertices and verify the influence on task execution time.

7

Store the structured variables defining the restricted areas as retained or persistent variables in your program code. It is possible to manipulate these values from the program. It is also possible for your program to store them on a removable media or to print them.

8

An HMI graphically displaying the position of parts of the crane in relation to restricted zones is not part of the delivery. Such functionality is not provided by the library.