Input Pin Description

Input Pin Description

i_xEn

When TRUE, this input enables function of AntiCrab_2 FB. When FALSE, the FB enters a fallback state. In fallback state, the FB channels the target speeds, ramps and direction commands to outputs for both drives.

i_xAsw

When TRUE, the FB is in a mode for concurrent operation of Anti-crab and Anti-sway. When FALSE, the FB is in a standalone operation mode.

In standalone mode is the ramping of target speed performed by variable speed drives, the AntiCrab_2 FB writes target speeds and ramp values to both drives via communication in every cycle.

In combined operation of Anti-Crab and Anti-sway is the ramping of speed reference performed by the AntiCrab_2 and AntiSwayOpenLoop_2 FBs. The ramp parameters of both bridge travel drives must be set to a low value. The FB sets its ramp outputs automatically to a shortest possible value when the i_xAsw input is TRUE. The drives then follow directly the speed reference calculated by the application.

The FB does not prevent switching modes while the drives are running. Be sure that the value of i_xAsw is not modified while the drives are running.

NOTE: Modifying the i_xAsw parameter of the AntiSwayOpenLoop_2 function block while the drive(s) are running will result in a considerable delay of stopping performance of the bridge in the industrial crane.

i_xSenPos

Selects between 2 possible positions of sensors. When FALSE, the FB is configured for sensors on the left side of the rail in direction of movement, positions a) and c) in the following figure. And when TRUE, the FB is configured for sensors on the right side of the rail, positions b) and d) in the following figure:

 

 

i_wDrvAcc

Requested acceleration ramp time of bridge travel motors. The value is used as a base for calculated output acceleration ramp times to both drives. When the FB is used in combination with Anti-sway, this ramp time is used for separate ramping of Anti-crab correction.

i_wDrvDec

Requested deceleration ramp time of bridge travel motors. The value is used as a base for calculated output deceleration ramp times to both drives. When the FB is used in combination with Anti-sway, this ramp time is used for separate ramping of Anti-crab correction.

i_xDrv1RdyStat, i_xDrv2RdyStat

Inputs of ready status of the axis. The information can be obtained from bit 1 of the status word of the Altivar drive.

Ready status information has to be interlocked (logical AND) with information that the drive is communicating correctly and is in operational state.

The procedure of obtaining this information depends on the fieldbus used. The following examples show the implementation for CANopen and EtherNet/IP.

Example of CANopen status verification for node 3:

VAR
      GET_STATE_Node: CIA405.GET_STATE;
      xNodeOperational: BOOL;
END_VAR
_____________________________________________
(* Check the CANopen node with NodeId 3 *)
GET_STATE_Node(
      NETWORK:= 1,
      ENABLE:= NOT GET_STATE_Node.CONFIRM AND NOT (GET_STATE_Node.ERROR > 0),
      TIMEOUT:= 1000,
      DEVICE:= 3);

IF GET_STATE_Node.CONFIRM OR (GET_STATE_Node.ERROR > 0) THEN
      xNodeOperational:= (GET_STATE_Node.STATE = 5);
END_IF

Example of EtherNet/IP status Verification for a device with connection id 257:

VAR
      xEipHealth: BOOL;
END_VAR
_____________________________________________
(* Check the Ethernet/IP device with connection Id 257  *)
xEipHealth:= UINT_TO_BOOL(EipGetHealth(i_uiconnId:= 257));

If the communication with any of the 2 drives is interrupted, the FB has to get the information in order to stop the movement.

The FB needs to have information about status of both drives. If one of the drives is not ready, the FB does not authorize start of the movement. If one of the ready bits turns FALSE during movement, both drives are stopped.

i_wSen1, i_wSen2

Scaled values of sensor outputs. The FB expects values scaled between 4000 and 20000. Corresponding to an usual 4...20 mA output of distance sensor. 4 mA being the position of sensor being closest to the rail, and 20 mA the position farthest from the rail.

The ScaleInput FB can be used to scale sensor values. See the Function Block Instantiation Example.

i_wSen1Centr, i_wSen2Centr

These parameters correspond to values of sensors 1 and 2 when the crane is centered on the runway and both wheels of the bogie where the sensors are mounted are in the middle of the rail.

In an ideal state both of the sensors should output a value that results in a value of 12000 after scaling.

However, it is not always possible eliminate deviation in the alignment of the sensors.

Using these inputs, it is possible to tell the FB that the centered position of either or both sensors deviate from the ideal.

The internal skew and drift controllers use these values as a regulation setpoint.

If the value of i_wSen1Centr / i_wSen2Centr is zero, the FB takes 12000 as the centered position of the related sensor, assuming there is no correction necessary.

i_wDrvSpdHsp

The parameter contains the maximum allowed speed the FB is allowed to write to target speed outputs. The value must not exceed the value defined as the high speed in the variable speed drives.

i_wDrvSpdLsp

The parameter contains the minimum allowed speed the FB is allowed to write to target speed outputs. The value must not be lower than the value defined as the low speed in the variable speed drives. If the mechanics and motor configuration allow it, use i_wDrvSpdLsp = 0

i_wMotSpdNom

The parameter contains the nominal speed of the applied motors. This parameter is used for ramping of skew and drift correction when the FB is used together with Anti-sway. In standalone operation it is not necessary to configure this parameter.

The synchronous value of the motor speed is optimal for working with this FB. For example, for 4-pole motor @ 50 Hz, use 1500 RPM. Using the speed from the motor nameplate which is including the motor slip is possible, but not necessarily optimal.

i_rKpDrft

The parameter contains the proportional gain of the drift controller. Optimal value depends on the crane mechanics. Set this value after the i_rKpSkew has been configured. Setting this input to 0 disables the drift correction, but leaves the skew correction active.

For more information on configuration of controller gains, check the Commissioning Procedure section.

i_rKpSkew

The parameter contains the proportional gain of the skew controller. Optimal value depends on the crane mechanics. Set this value first before i_rKpDrft. Setting this input to 0 disables both skew and drift correction.

For more information on configuration of controller gains, check the Commissioning Procedure section.

i_wRegOputMax

The parameter defines the maximum output of the drift and skew controller. It corresponds to a maximum allowed difference in target speeds for drives 1 and 2. When left to 0, the output of the controller is limited only by the difference of i_wDrvSpdHsp and i_wDrvSpdLsp. The input can help reducing a stress to the runway and building structure in case of problems with the mechanics of the crane or sensor signals.

i_wSkewMax

The parameter contains the maximum allowed value of the bridge skew. If the actual value of skew exceeds this value for longer than defined by the i_wFltrTime, an alarm is signaled. Setting this value to 0 disables the excessive skew detection.

i_wDrftMax

The parameter contains the maximum allowed value of the bridge drift. If the actual value of drift exceeds this value for longer than defined by the i_wFltrTime, an alarm is signaled. Setting this value to 0 disables the excessive drift detection.