Input Pin Description - AntiSwayOpenLoop

Input Pin Description - AntiSwayOpenLoop_2

Input Pin Description

Input	Data Type	Description
i_xEn	BOOL	Anti-sway activation. TRUE: Enables Anti-sway FALSE: Disables Anti-sway, linear ramp Refer to detailed description below this table.
i_xInit	BOOL	This function initializes the internal calculation for the Anti-sway correction. It returns the function to the factory settings (internal variable = 0). The initialization is performed on the rising edge. This function is used after each drive detects the alarm and after each movement which was not requested by the block (Drive detected alarm, Quick Stop, Forced local, Communication alarm...). Initialization of the FB is only possible after the currently active Anti-sway profile is finished. TRUE: Initialization FALSE: No action
i_xDrvFwd	BOOL	Forward command. In FB enabled state starts generation of Anti-sway profile. In FB disabled state starts generation of linear speed profile.
i_xDrvRev	BOOL	Reverse command. In FB enabled state starts generation of Anti-sway profile. In FB disabled state starts generation of linear speed profile.
i_wDrvSpdRef	WORD	Drive speed reference input. Range: 0...6000 Scaling/Unit: RPM (alternatively 0.1 Hz, the unit must be the same as for i_stPAS.wDrvSpdRefMax)
i_xLsFwdStop	BOOL	Stop movement of the trolley/bridge in a forward direction. Movement is stopped using a linear ramp defined in i_stPAS.wDecEmgy with no Anti-sway profile. NOTE: If a limit switch sensor is not employed in the application, set the input to TRUE. NOTE: This input is processed in both, the enabled and disabled state of the FB.
i_xLsRevStop	BOOL	Stop movement of the trolley/bridge in a reverse direction. Movement is stopped using a linear ramp defined in i_stPAS.wDecEmgy with no Anti-sway profile. NOTE: If a limit switch sensor is not employed in the application, set the input to TRUE. NOTE: This input is processed in both, the enabled and disabled state of the FB.
i_xLsFwdSlow	BOOL	Slow-down forward position. NOTE: If a limit switch sensor is not employed in the application, set the input to TRUE. NOTE: This input is processed only in enabled state of the FB. Refer to detailed description below this table.
i_xLsRevSlow	BOOL	Slow-down reverse position. NOTE: If a limit switch sensor is not employed in the application, set the input to TRUE. NOTE: This input is processed only in enabled state of the FB. Refer to detailed description below this table.
i_xBrakFbck	BOOL	Brake feedback. TRUE: Brake released FALSE: Brake engaged NOTE: This input is processed in both, the enabled and disabled state of the FB. NOTE: If this input is not used, i_stPAS.wBrakDly parameter must be set to TRUE. Refer to detailed description below this table.
i_rCbleLenActl	REAL	Actual cable length. Range: 0.5...60 Scaling/Unit: 1 m Refer to detailed description below this table.
i_stPAS	PAS	Configuration parameter, set during commissioning phase. Refer to Sub-Structured Description.

i_xEn

This input activates the Anti-sway function.

Activation is possible only when the output speed of the Anti-sway FB equals zero. If the output speed is higher than zero, the Anti-sway function is only activated once it reaches zero.

The Anti-sway function can be de-activated regardless of the actual speed reference value.

If the FB is disabled it generates a speed profile using linear acceleration and deceleration ramps defined by wAswAccDsbl and wAswDecDsbl. This profile can be used to control the motor speed without changing the setting of acceleration and deceleration ramps in the drive (e.g. when there is no more place in rPDOs to write the parameters).

However it is preferable to use the ramping of the drive, if it is possible.

NOTE: It is not possible to activate Anti-sway during the movement because the calculation of the pendulum position is only active when the Anti-sway function is enabled. If a movement with activated Anti-sway function starts while the load sways, this initial sway is not suppressed by the function.

WARNING

UNCOMPENSATED INITIAL SWAY

oDo not start the movement until the load is at rest and motionless.

oDo not engage the Anti-sway function until all initial load movement has ceased.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

i_xLsFwdSlow

This signal is used to assist the slow down at the slow down limit switch in a forward direction. This input does not modify the speed reference. It sets shorter ramps in order to slow the movement down in a shorter distance while still using the Anti-sway function. The speed reference required in the slow area must be given to the input i_wDrvSpdRef from an external source (e.g. SpeedSelect function block).

i_xLsRevSlow

This signal is used to assist the slow down at the slow down limit switch in the reverse direction. This input does not modify the speed reference. It sets shorter ramps in order to slow the movement down in a shorter distance while still using the Anti-sway function. The speed reference required in the slow area must be given to the input i_wDrvSpdRef from an external source (e.g. SpeedSelect function block).

i_xBrakFbck

This is the feedback brake status. A TRUE value indicates the brake is released. The feedback is needed to start the movement without the brake engaged.

If there is a command to run present (i_xDrvFwd or i_xDrvRev) and other conditions to start the movement are fulfilled, the corresponding direction output command (q_xDrvFwd or q_xDrvRev) is set to TRUE immediately. (in order to switch the drive to RUN state) Ramp generation starts after i_xBrakFbck becomes TRUE.

The input is important for smoothness of movement. The internal ramp generator starts the ramp only after this input is set to TRUE. If it is TRUE all the time, ramping begins before the motor is fluxed and brake is open, which in combination with a 0.1 s ramp on the drive results in a steep ramp at the beginning of movement. This is especially important for motors with a longer fluxing time.

Using the contact of the brake contactor is acceptable but not optimal, especially for brakes which take a long time to open. (If the brake needs 200 ms to release and the task time is 50 ms, the ramp runs for 4 cycles before the brake releases).

Alternatively, if there is no information on the state of the brake, see i_stPAS.wBrakDly parameter.

i_rCbleLenActl

This is the actual cable length from the point where the rope is attached to the drum (or the average position for complex systems) to the approximate center of gravity of the system (the system consists of the hook, load and also rope, but the rope can usually be neglected) in meters (coming from the CableLength function block or similar). The load length must be added to the cable length beforehand.

Correct setting of i_rCbleLenActl input: